Robotic debridement apparatuses, and related systems and methods

ABSTRACT

Robotic debridement apparatuses, related systems, and methods of using the same are disclosed herein. The robotic debridement apparatuses are configured to facilitate debridement of tissue from a wound region. For example, the robotic debridement apparatuses can include one or more of at least one debriding tool configured to debride tissue, at least one tissue disposal tool configured to dispose of substances in the wound region, to the wound region. The systems disclosed herein can include a plurality of robotic debridement apparatuses. The systems disclosed herein can include a dressing associated with the plurality of robotic debridement apparatuses. The dressing can be associated with the robotic debridement apparatuses in a manner that facilitates operations of the robotic debridement apparatuses.

If an Application Data Sheet (ADS) has been filed on the filing date ofthis application, it is incorporated by reference herein. Anyapplications claimed on the ADS for priority under 35 U.S.C. §§ 119,120, 121, or 365(c), and any and all parent, grandparent,great-grandparent, etc. applications of such applications, are alsoincorporated by reference, including any priority claims made in thoseapplications and any material incorporated by reference, to the extentsuch subject matter is not inconsistent herewith.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application claims the benefit of the earliest availableeffective filing date(s) from the following listed application(s) (the“Priority Applications”), if any, listed below (e.g., claims earliestavailable priority dates for other than provisional patent applicationsor claims benefits under 35 U.S.C. § 119(e) for provisional patentapplications, for any and all parent, grandparent, great-grandparent,etc. applications of the Priority Application(s)).

PRIORITY APPLICATIONS

None.

If the listings of applications provided above are inconsistent with thelistings provided via an ADS, it is the intent of the Applicant to claimpriority to each application that appears in the DomesticBenefit/National Stage Information section of the ADS and to eachapplication that appears in the Priority Applications section of thisapplication.

All subject matter of the Priority Applications and of any and allapplications related to the Priority Applications by priority claims(directly or indirectly), including any priority claims made and subjectmatter incorporated by reference therein as of the filing date of theinstant application, is incorporated herein by reference to the extentsuch subject matter is not inconsistent herewith.

SUMMARY

Embodiments disclosed herein relate to robotic debridement apparatuses,systems using one or more of the robotic debridement apparatuses, andmethods of using the same. The robotic debridement apparatuses disclosedherein are configured to facilitate debridement of tissue (e.g., targettissue) from a body region. For example, the robotic debridementapparatuses can include one or more of at least one debriding toolconfigured to debride tissue (e.g., target tissue), at least one debrisdisposal device configured to capture at least one substance from thebody region, or at least one therapeutic device configured to provide atherapeutic effect to the body region. In an embodiment, roboticdebridement systems disclosed herein can include a plurality of roboticdebridement apparatuses. In an embodiment, robotic debridement systemsdisclosed herein can include a dressing associated with a plurality ofrobotic debridement apparatuses. The dressing can be associated with therobotic debridement apparatuses in a manner that facilitates operationof the robotic debridement apparatuses or facilitates debridement oftissue from the body region.

In an embodiment, a robotic debridement apparatus is disclosed. In anembodiment, the robotic debridement apparatus includes a housing. In anembodiment, the robotic debridement apparatus further includes at leastone locomotive mechanism positioned in or on the housing. In anembodiment, the at least one locomotive mechanism is configured togenerate a self-propelling locomotive force. In an embodiment, therobotic debridement apparatus also includes at least one debriding toolassociated with the housing.

In an embodiment, a robotic debridement apparatus is disclosed. In anembodiment, the robotic debridement apparatus includes a housing. In anembodiment, the robotic debridement apparatus further includes at leastone locomotive mechanism positioned in or on the housing. In anembodiment, the at least one locomotive mechanism is configured togenerate a self-propelling locomotive force. In an embodiment, therobotic debridement apparatus additionally includes at least onedebriding tool associated with the housing. In an embodiment, therobotic debridement apparatus also includes one or more sensorspositioned in or on the housing.

In an embodiment, a robotic debridement system is disclosed. In anembodiment, the robotic debridement system includes a plurality ofrobotic debridement apparatuses. In an embodiment, at least one of theplurality of robotic debridement apparatuses includes a housing and atleast one locomotive mechanism positioned in or on the housing. In anembodiment, the at least one locomotive mechanism is configured togenerate a self-propelling locomotive force. In an embodiment, the atleast one of the plurality of robotic debridement apparatuses furtherincludes at least one debriding tool associated with the housing.

In an embodiment, a method is disclosed. In an embodiment, the methodincludes contacting a body region of a subject with at least one roboticdebridement apparatus. In an embodiment, the at least one of theplurality of robotic debridement apparatuses includes a housing and atleast one locomotive mechanism positioned in or on the housing. In anembodiment, the at least one locomotive mechanism is configured togenerate a self-propelling locomotive force. In an embodiment, the atleast one robotic debridement apparatus further includes at least onedebriding tool associated with the housing. In an embodiment, the methodfurther includes, via the at least one debriding tool, debriding atleast one target tissue from the body region.

In an embodiment, a robotic debridement system is disclosed. In anembodiment, the robotic debridement system includes a plurality ofrobotic debridement apparatuses. In an embodiment, at least one of theplurality of robotic debridement apparatuses includes a housing and atleast one of at least one debriding tool associated with the housing. Inan embodiment, the robotic debridement system further includes adressing associated with the at least one of the plurality of roboticdebridement apparatuses. In an embodiment, the dressing includes atleast one layer that at least partially encloses the at least one of theplurality of robotic debridement apparatuses.

In an embodiment, a robotic debridement system is disclosed. In anembodiment, the robotic debridement system includes a plurality ofrobotic debridement apparatuses. In an embodiment, at least one of theplurality of robotic debridement apparatuses includes a housing and atleast one of at least one debriding tool associated with the housing. Inan embodiment, the robotic debridement system further includes adressing associated with the at least one of the plurality of roboticdebridement apparatuses. In an embodiment, the dressing includes atleast one layer that at least partially encloses the at least one of theplurality of robotic debridement apparatuses. In an embodiment, therobotic debridement system also includes one or more sensors positionedin or on at least one of the housing of the at least one of theplurality of robotic debridement apparatuses or the dressing.

In an embodiment, a method is disclosed. In an embodiment, the methodincludes positioning a plurality of robotic debridement apparatuses ator near a body region. In an embodiment, the body region includes atleast one target tissue (e.g., that is desired to be modified by therobotic debridement apparatuses). In an embodiment, at least one of theplurality of robotic debridement apparatuses includes a housing and atleast one debriding tool associated with the housing. In an embodiment,the method further includes reversibly attaching a dressing associatedwith the plurality of robotic debridement apparatuses to the bodyregion. In an embodiment, the method additionally includes, via the atleast one debriding tool, debriding the at least one target tissuepresent within the body region.

In an embodiment, a robotic debridement apparatus is disclosed. In anembodiment, the robotic debridement apparatus includes a housing and atleast one locomotive mechanism positioned in or on the housing. In anembodiment, the at least one locomotive mechanism is configured togenerate a self-propelling locomotive force. In an embodiment, therobotic debridement apparatus also includes at least one debris disposaldevice positioned in or on the housing. In an embodiment, the debrisdisposal device is configured to capture at least one substance from abody region.

In an embodiment, a robotic debridement apparatus is disclosed. In anembodiment, the robotic debridement apparatus includes a housing and atleast one locomotive mechanism positioned in or on the housing. In anembodiment, the at least one locomotive mechanism is configured togenerate a self-propelling locomotive force. In an embodiment, therobotic debridement apparatus also includes at least one debris disposaldevice positioned in or on the housing. In an embodiment, the debrisdisposal device is configured to capture at least one substance from abody region. In an embodiment, the robotic debridement apparatus furtherincludes one or more sensors positioned in or on the housing.

In an embodiment, a robotic debridement system is disclosed. In anembodiment, the robotic debridement system includes a plurality ofrobotic debridement apparatuses. At least one of the plurality ofrobotic debridement apparatuses includes a housing and at least onelocomotive mechanism positioned in or on the housing. In an embodiment,the at least one locomotive mechanism is configured to generate aself-propelling locomotive force. In an embodiment, the at least one ofthe plurality of robotic debridement apparatuses further includes atleast one debris disposal device positioned in or on the housing. In anembodiment, the debris disposal device is configured to capture at leastone substance from a body region.

In an embodiment, a method is disclosed. In an embodiment, the methodincludes contacting a body region of the subject with at least onerobotic debridement apparatus. In an embodiment, the at least onerobotic debridement apparatus including a housing and at least onelocomotive mechanism positioned in or on the housing. In an embodiment,the at least one locomotive mechanism configured to generate aself-propelling locomotive force. In an embodiment, the at least onerobotic debridement apparatus also including at least one debrisdisposal device positioned in or on the housing. In an embodiment, themethod also includes capturing with the at least one debris disposaldevice at least one substance from the body region.

Features from any of the disclosed embodiments can be used incombination with one another, without limitation. In addition, otherfeatures and advantages of the present disclosure will become apparentto those of ordinary skill in the art through consideration of thefollowing detailed description and the accompanying drawings.

The foregoing summary is illustrative only and is not intended to be inany way limiting. In addition to the illustrative aspects, embodiments,and features described above, further aspects, embodiments, and featureswill become apparent by reference to the drawings and the followingdetailed description.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a schematic illustration of a robotic debridement apparatus,according to an embodiment.

FIGS. 2A-2G are schematic illustrations of robotic debridementapparatuses including different locomotive mechanisms, according todifferent embodiments.

FIGS. 3A-3O are schematic illustrations of robotic debridementapparatuses including different debriding tools, according to differentembodiments.

FIGS. 4A-4J are schematic illustrations of robotic debridementapparatuses including different debris disposal devices, according todifferent embodiments.

FIGS. 5A and 5B are schematic illustrations of robotic debridementapparatuses including different therapeutic devices, according todifferent embodiments.

FIG. 6 is a schematic illustration of a robotic debridement apparatusthat includes at least one marking device, according to an embodiment.

FIG. 7 is a schematic illustration of a robotic debridement apparatusthat includes at least one extraction device, according to anembodiment.

FIGS. 8 and 9 are flow diagrams of different methods of using any of therobotic debridement apparatuses disclosed herein, according to differentembodiments.

FIG. 10 is a schematic illustration of a system that includes aplurality of robotic debridement apparatuses, according to anembodiment.

FIGS. 11A and 11B are schematic illustrations of a system that includesa dressing that is associated with a plurality of robotic debridementapparatuses, according to an embodiment.

FIG. 12 is a schematic view of a system that includes a dressing and atleast one robotic debridement apparatus positioned in a body region,according to an embodiment.

FIG. 13 is a schematic view of a system that includes a dressing and atleast one robotic debridement apparatus positioned in a body region,according to an embodiment.

FIGS. 14-22 are schematic illustrations of different systems thatinclude a dressing having different associations with a plurality ofrobotic debridement apparatuses, according to different embodiments.

FIG. 23 is a flow diagram of a method of using any of the systemsdisclosed herein that include a dressing associated with a plurality ofrobotic debridement apparatuses, according to an embodiment.

DETAILED DESCRIPTION

Embodiments disclosed herein relate to robotic debridement apparatuses,systems using one or more of the robotic debridement apparatuses, andmethods of using the same. The robotic debridement apparatuses disclosedherein are configured to facilitate debridement of tissue (e.g., atleast one target tissue) from a body region. For example, the roboticdebridement apparatuses can include one or more of at least onedebriding tool configured to debride tissue (e.g., at least one targettissue) or at least one debris disposal device configured to capture atleast one substance from the body region. For example, the roboticdebridement apparatuses can include at least one locomotive mechanismconfigured to generate a self-propelling locomotive force to allowtravel within a body region. In an embodiment, the robotic debridementapparatuses can include at least one therapeutic delivery deviceconfigured to deliver at least one of a therapeutic agent or atherapeutic treatment to the body region. In an embodiment, roboticdebridement systems disclosed herein can include a plurality of roboticdebridement apparatuses. In an embodiment, robotic debridement systemsdisclosed herein can include a dressing associated with a plurality ofrobotic debridement apparatuses. The dressing can be associated with therobotic debridement apparatuses in a manner that facilitates operationsof the robotic debridement apparatuses or facilitates debridement oftissue from the body region. In an embodiment, the robotic debridementapparatuses can include one or more sensors.

In an embodiment, the body region includes a wound region of a subject.For example, the robotic debridement apparatuses disclosed herein can beused to debride tissue from the wound region. The wound region caninclude a wound, such as a traumatic wound, a burn wound, a surgicalwound, an ulcerative wound, a pressure ulcer, a diabetic ulcer, or anyother suitable wound. The wound region can also include a portion of thesubject that extends about the wound (e.g., viable tissue, such as askin surface, that extends about the wound) or a region directly aboveor below the wound. The wound region can include both viable tissue(e.g., healthy, unaffected tissue and/or damaged but recoverable tissue)and nonviable tissue (e.g., dead, dying, or not recoverable tissue)therein. In an embodiment, the target tissue is established, at least inpart, by the desired outcome for a particular wound and its ability toheal with such intervention. In an embodiment, the robotic debridementapparatuses are configured to discern between viable and nonviabletissue, and appropriately engage with at least one tissue thereof (e.g.,debriding nonviable tissue or providing one or more agents to assist inhealing viable tissue). In an embodiment, the body region can include atleast a portion of a head, a face (e.g., an ear, a nose, or a mouth), aneck, a chest, a stomach, a back, a waist, a hip, a groin, a buttocks, athigh, a knee, a calf, a shin, a foot (e.g., an ankle, a sole, toes), anupper limb (e.g., an arm), a forearm, an elbow, a wrist, a hand,fingers, etc.

In an embodiment, at least one of the robotic debridement apparatusescan be configured to debride at least one target tissue in the woundregion. The target tissue can be a selected tissue or a portion of theselected tissue to be debrided. For example, the at least one targettissue in the wound region that can be debrided by the roboticdebridement apparatuses disclosed herein can include at least one ofnecrotic tissue (e.g., eschar, dead cells, or cellular debris), ischemictissue, slough (e.g., separated tissue, fibrin, and proteinaceousmaterial), granulation tissue (e.g., hypergranulation tissue), fibrinoustissue, connective tissue, epithelial tissue, endothelial tissue, oranother suitable tissue. For example, target tissue in a wound can bedebrided to remove at least a portion of dead, devitalized, orcontaminated tissue, as well as foreign material, from a wound, therebyreducing microbes, toxins, and other substances that inhibit healing.

In an embodiment, the robotic debridement apparatuses disclosed hereincan be used in cosmetic procedures. For example, the robotic debridementapparatuses disclosed herein can be used to debride a target tissue. Forexample, a target tissue can be scar tissue, pigmented tissue, wrinkledtissue, infected tissue, damaged tissue, or any portion thereof. Therobotic debridement apparatuses can be used in any suitable cosmeticprocedure, such as cosmetic surgery, a cosmetic peel treatment (e.g., anacne peel), a dermabrasion treatment, or another suitable cosmeticprocedure. As such, the body region can include a skin surface, a skingraft, a scar, a wound region, a skin depression, or another portion ofthe subject.

Thus, in certain instances, the target tissue consists solely ofnonviable or dead tissue that is desired to be debrided, and in certainother instances the target tissue consists solely of viable tissue(healthy, unaffected and recoverable tissue) that is desired to bedebrided (e.g., pigmented skin), and in certain instances the targettissue has both viable and nonviable tissue, and the apparatuses aredirected to remove one or the other, or both.

In an embodiment, the robotic debridement apparatuses disclosed hereincan be used in any application that debrides tissue from a body region,captures substances from the body region, or provides a therapeuticeffect to the body region.

I. Robotic Debridement Apparatuses

FIG. 1 is a schematic illustration of a robotic debridement apparatus100, according to an embodiment. The robotic debridement apparatus 100is configured to facilitate debridement of tissue (e.g., target tissue)from a body region. The robotic debridement apparatus 100 includes ahousing 102 that at least one of supports, encloses, or protects one ormore components of the robotic debridement apparatus 100. For example,the robotic debridement apparatus 100 includes at least one locomotivemechanism 104 positioned in or on the housing 102. The at least onelocomotive mechanism 104 is configured to provide a propelling force(e.g., self-propelling locomotive force) to the robotic debridementapparatus 100 to effect locomotion (e.g., movement, travel) of therobotic debridement apparatus 100. The robotic debridement apparatus 100includes a device positioned in or on the housing 102 that is configuredto facilitate debridement of tissue from a body region. For example, inthe illustrated embodiment, the robotic debridement apparatus 100includes at least one debriding tool 106 configured to debride thetissue from the body region. For example, the debriding tool 106 can beconfigured to debride at least one target tissue of the body region. Theat least one debriding tool 106 can include any of the debriding tools306 a-o shown in FIGS. 3A-3O. Additionally or alternatively, the roboticdebridement apparatus 100 can include at least one debris disposaldevice (e.g., any of the debris disposal devices 452 a-j of FIGS. 4A-4J)configured to capture at least one substrate from the body region. Inembodiments, the robotic debridement apparatus 100 can further includeat least one therapeutic device (e.g., any of the therapeutic devices562 a-b of FIGS. 5A-5B) configured to provide a therapeutic effect tothe body region. In some embodiments, the robotic debridement apparatus100 can include at least one of one or more sensors 108, at least onepower source 110, or at least one controller 112 positioned in or on thehousing 102, any of which are optional in some embodiments.

In an embodiment, any component or electronic of the robotic debridementapparatus 100 can be manufactured using an additive manufacturingprocess. Non-limiting examples of additive manufacturing processesinclude liquid-based processes (e.g., stereolithography, jettedphotopolymer, and ink jet printing), powder-based processes (e.g.,selective laser sintering, direct metal laser sintering, andthree-dimensional printing), and solid-based processes (e.g., laminatedobject manufacturing or fused deposition modeling).

A. Housings

As discussed above, the housing 102 of the robotic debridement apparatus100 is configured to have one or more components of the roboticdebridement apparatus 100 positioned therein or thereon. For example,the housing 102 can be configured to at least one of support, protect,or shelter the one or more components of the robotic debridementapparatus 100. The one or more components of the robotic debridementapparatus 100 can be mounted to, partially enclosed by, incorporatedinto, or positioned within the housing 102. The one or more componentsof the robotic debridement apparatus 100 can include at least one of thelocomotive mechanism 104, the debriding tool 106, the debris disposaldevice, the therapeutic device, the sensors 108, the power source 110,the controller 112, any other device disclosed herein, or any othersuitable device.

The housing 102 can include at least one outer surface 116. For example,the housing 102 can include at least one of a plate-like structure, aframed structure, a two-dimensional structure, or a three-dimensionalstructure (e.g., a three-dimensional structure at least partiallyenclosing a space). For example, the robotic debridement apparatus 100can include one or more components that would be adversely affected(e.g., damaged) if exposed to the body region. As such, the housing 102can include a three-dimensional structure or another suitable structurethat encloses and substantially isolates the one or more components fromthe body region. In an embodiment, the housing includes a water-tightstructure. In an embodiment, the housing 102 can include two or moreportions that are configured to move relative to each other. For examplethe two or more portions can be operably coupled to the locomotivemechanism 104 and connected together using one or more of a joint, abearing, etc. For example the two or more portions can be operablycoupled to the debriding tool 106.

In an embodiment, the housing 102 exhibits a longitudinal axis 118. Thehousing 102 can exhibit a maximum length that is measured along thelongitudinal axis 118. The maximum length of the housing 102 can beabout 1 μm to about 10 cm, such as about 1 μm to about 2 cm, 1 μm toabout 500 μm, about 100 μm to about 1 mm, about 500 μm to about 2 mm,about 1 mm to about 2 cm, about 5 mm to about 5 cm, or about 1 cm toabout 10 cm. The length of the housing 102 can be selected based on oneor more of the type of locomotive mechanism 104 positioned in or on thehousing, the size of the body region, the number of robotic debridementapparatuses positioned on the body region, the type of debriding tool106 positioned in or on the housing 102, the type of debris disposaldevice positioned in or on the housing 102, the type of therapeuticdevice positioned in or on the housing 102, whether the roboticdebridement apparatus is associated with a dressing, etc.

In an embodiment, the housing 102 exhibits a shape compatible withinterfacing with a tissue. For example, the housing 102 can exhibit acapsular design. For example, the housing 102 can be generallycylindrical or spherical. For example, the housing 102 can be generallyrectangular or another suitable polyhedron. In an embodiment, thehousing 102 can include a plurality of segments (e.g., first and secondsegments 211 a, 213 a of FIG. 2A). For example, the segments can becoupled smoothly or can be coupled by a bellows or a joint. For example,the segments can be coupled in a telescoping configuration. In anembodiment, the housing 102 can include at least one three-dimensionalprinted micropillar structure.

In an embodiment, at least a portion of the housing 102 (e.g., the outersurface 116 of the housing 102) can be at least partially formed from orcoated with one or more biocompatible materials. For example, at least aportion of the housing 102 can be formed from a biocompatible materialsuch as stainless steel, titanium or a titanium alloy, ceramic,polymethylmethacrylate (PMMA), poly(tetrafluoroethylene) (PTFE), etc.For example, at least a portion of the housing 102 can be formed with ananotextured surface. In an embodiment, at least a portion of thehousing 102 (e.g., the outer surface 116 of the housing 102) can becoated with one or more biocompatible materials and/or bioactivecoating. For example, at least a portion of the housing 102 can becoated with biocompatible materials including a polymer, biopolymer, orsilicon. For example, at least a portion of the housing 102 can becoated with a biocompatible material chosen for its lubricityproperties, friction properties, hydrophobicity/hydrophilicityproperties, or moisture-resistant properties (e.g.,vinylpyrrolidone-butylmethacrylate compounds, zylalene polymers, etc.).In an embodiment, at least the outer surface 116 of the housing 102 canbe at least partially formed from or coated with a material thatfacilitates the debridement of tissue (e.g., at least one targettissue). For example, the outer surface 116 of the housing 102 caninclude copper, silver, or another material which exhibits antimicrobialproperties. For example, the outer surface 116 of the housing 102 caninclude a bioactive coating including a polymer comprising a debridingagent or therapeutic agent, as described herein. For example, the outersurface 116 of the housing 102 can include or be coated with an abrasiveor chemical compound, as described herein. For example, the outersurface 116 of the housing 102 can include or be coated with a gel,hydrogel, colloid, or hydrocolloid (e.g., a gel or fluid comprising anabrasive or chemical compound).

In an embodiment, the housing 102 can be a freestanding housing. Forexample, a freestanding housing includes a housing that is not activelysupported by another structure (except for devices positioned in or onthe housing 102, e.g., the locomotive mechanism 104), while the roboticdebridement apparatus 100 is operating within the body region. As such,the entire robotic debridement apparatus 100 can be free to operate inat least two degrees of freedom (e.g., at least three, at least four, atleast five, or six degrees of freedom) during operation. In particular,the freestanding housing can move in two or more of forwards/backwards,left/right, or up/down during operation. It is noted that the anotherstructure would be considered to actively support the housing 102 duringoperation when the another structure continuously supports at least 20%of the weight of the housing 102, restricts movement of the roboticdebridement apparatus 100 to a significantly small portion of the bodyregion, or the housing 102 is directly coupled (e.g., attached) toanother device that does not travel within the body region or restrictsthe ability of the robotic debridement apparatus's 100 to travel in atleast two of forward/backward, left/right, or up/down. For example, thehousing 102 can be freestanding if indirectly connected to anotherstructure via at least one tether having slack therein during operationof the robotic debridement apparatus 100. In an embodiment, the housing102 is not freestanding (e.g., housing 2202 of FIG. 22).

In an embodiment, at least a portion of the robotic debridementapparatus 100 can be disposable or reusable. When at least a portion ofthe robotic debridement apparatus 100 is reusable, at least one of thereusable portions of the robotic debridement apparatus 100 can beconfigured to be cleaned between uses (e.g., configured to besterilized, disinfected, etc.). In an embodiment, the housing 102 can bereusable. In such an embodiment, the housing 102 can be configured toprotect at least one other reusable portion of the robotic debridementapparatus 100 that can be damaged during the cleaning process (e.g., thelocomotive mechanism 104 or the controller 112). In such an embodiment,the housing 102 can be configured to have the other reusable portion ofthe robotic debridement apparatus 100 removed therefrom during thecleaning process (e.g., the housing 102 opens, the other reusableportion is reversibly coupled to the housing 102, etc.).

B. Locomotive Mechanisms

As discussed above, the at least one locomotive mechanism 104 isconfigured to move the robotic debridement apparatus 100 within the bodyregion. For example, the locomotive mechanism 104 can be configured toinduce a self-propelling locomotive force. The self-propellinglocomotive force can induce a rolling motion, a crawling motion, awalking motion (e.g., with leg-like protrusions), an inchworm-likemotion, an earthworm-like motion or another suitable motion. In anembodiment, the locomotive mechanism 104 can be configured to move therobotic debridement apparatus 100 responsive to direction from thecontroller 112. In an embodiment, the locomotive mechanism 104 can beconfigured to move the robotic debridement apparatus 100 in a generallylinear path, a random path, etc. In an embodiment, the locomotivemechanism 104 can controllably move the robotic debridement apparatus100 responsive to direction from the controller 112. For example, thelocomotive mechanism 104 can controllably move the robotic debridementapparatus 100 along a selected path responsive to the direction from thecontroller 112.

In an embodiment, any of the locomotive mechanisms disclosed herein caninclude one or more actuators (e.g., actuators 150) configured to causethe locomotive mechanisms to move. For example, the actuators caninclude squiggle motors, inchworm actuators, piezoelectric materials(e.g., piezoelectric inchworm motor, piezoelectric bending actuator,piezoelectric unimorph, piezoelectric bimorph, piezoelectric motor,piezoelectric transducer), motors (e.g., DC motors, brushless motors),electromagnetic actuators, electrostatic actuators, pumps, fluidcompressors, bending actuators, unimorph actuators, bimorph actuators,microactuators (e.g., micromotors), screws, or two-way linear actuators.In addition, the actuators 150 can be formed from shape memory alloys orionic polymer metal components. In an embodiment, actuators includemicroelectromechanical systems or another suitable actuator. In anembodiment, the actuators can include any suitable actuator. Theactuators disclosed herein can be used in any of the locomotivemechanisms, robotic debridement apparatuses, or system embodimentsdisclosed herein.

Referring to FIG. 1, the locomotive mechanism 104 includes at least oneimpelling mechanism 105 at least partially extending from the housing102 c. The impelling mechanism 105 is configured to engage a surface 107of the body region 109 and provide locomotion to the robotic debridementapparatus 100. For example, the impelling mechanism 105 can include oneor more appendages, legs, or wheels, with or without adhesive aspects(e.g., adhesive microvilli, three-dimensional printed micropillarstructures). The locomotive mechanism 104 can include one or moreactuators 150 that are configured to drive the impelling mechanism 105.

In an embodiment, the impelling mechanism 105 includes jointedappendages or legs that can be actuated to propel the roboticdebridement apparatus 100 forward in a walking or crawling motion. Forexample, the impelling mechanism 105 can include a slot-followermechanism driven via a lead screw to provide a propulsive force to ajointed leg. In an embodiment, multiple jointed legs (e.g., ofsuperelastic, shape memory, polymer, or other material) can be motivatedto interact with the body region 109 under control of the actuators 150.For example, appendages or legs can be formed from a shape memory alloyor ionic polymer metal component that is driven by the application of astimulus (e.g., current, thermal energy, etc.).

In an embodiment, the impelling mechanism 105 configured to providemovement in a particular direction. For example, the impelling mechanism105 can be configured so that only a portion of a plurality ofappendages (e.g., one or more legs) is actuated, while other portions ofthe plurality of appendages remain stationary. As such, the impellingmechanism 105 can induce movement (e.g., locomotion) that drives achange in direction (e.g., left, right, forward, backward, etc.), andallows the robotic debridement apparatus 100 to be controllably steered.

In an embodiment, the locomotive mechanism 104 includes one or morearrays of impelling mechanisms (not shown). For example the locomotivemechanism 104 can include an array of impelling mechanisms aligned alongan x-axis and a second array of impelling mechanisms aligned along ay-axis. For example, the locomotive mechanism 104 can include actuators150 and accelerometers (not shown) that allow the robotic debridementapparatus 100 (e.g., a sphere) to roll in any direction under directionof the controller 112.

FIGS. 2A-2G are schematic illustrations of robotic debridementapparatuses including different locomotive mechanisms, according todifferent embodiments. Except as otherwise described herein, the roboticdebridement apparatuses shown in FIGS. 2A-2G and their materials,components, or elements can be similar to or the same as the roboticdebridement apparatus 100 (FIG. 1) and its respective materials,components, or elements. For example, the robotic debridementapparatuses shown in FIGS. 2A-2G can include at least one of a housing,at least one locomotive mechanism, at least one tissue debriding tool(e.g., any of tissue debriding tools 306 a-o of FIGS. 3A-3O), at leastone debris disposal device (e.g., any of the debris disposal devices 452a-j of FIGS. 4A-4J), at least one therapeutic device (e.g., any of thetherapeutic devices 562 a-b of FIGS. 5A-5B), one or more sensors, acontroller, or a power source. Any of the locomotive mechanismsillustrated in FIGS. 1, 2A-2G can be used in any of the roboticdebridement apparatus embodiments disclosed herein.

Referring to FIG. 2A, the robotic debridement apparatus 200 a includesat least one locomotive mechanism 204 a having at least oneinchworm-like motive mechanism (e.g., a stick and slip mechanism). Forexample, the robotic debridement apparatus 200 a can include a housing202 a that is formed from a plurality of segments. For example, thehousing 202 a can be formed from at least a first segment 211 a and asecond segment 213 a. The first and second segments 211 a, 213 a can bejointed together such that the first and second segments 211 a, 213 aare moveable relative to each other. The locomotive mechanism 204 a caninclude one or more actuators 250 a that are operably coupled to thefirst and second segment 211 a, 213 a and configured to move the firstand second segments 211 a, 213 a relative to each other. As such, theone or more actuators 250 a can drive each of the first and secondsegments 211 a, 213 a in an inchworm-like manner. For example, theactuators 250 a can cause the first and second segments 211 a, 213 a tointermittently engage and disengage from a surface 207 of the bodyregion 209 thereby traversing a distance.

Referring to FIG. 2B, a robotic debridement apparatus 200 b includes atleast one locomotive mechanism 204 b having at least one earthworm-likemotive mechanism (e.g., stick and slip mechanism). In an embodiment, therobotic debridement apparatus 200 b can include a housing 202 b thatincludes a plurality of segments (e.g., first and second segments 211 b,213 b). The locomotive mechanism 204 b can also include at least onebellows 214 coupled to and extending between two of the plurality ofsegments. The bellows 214 can be a pneumatic bellows or another suitablebellows. The bellows 214 can be configured to expand (e.g., move thefirst and second segments 211 b, 213 b away from each other) andcontract (e.g., move the first and second segments 211 b, 213 b closertogether).

The locomotive mechanism 204 b can also include at least one engagingelement 215 (e.g., retractable elements) that reversibly engage anddisengage from a surface 207 of the body region 209. For example, theengaging elements 215 can include protrusions, three-dimensional printedmicropillar structures, etc. The locomotive mechanism 204 b can alsoinclude one or more actuators 250 b. At least one of the actuators 250 bcan be coupled to the engaging element 215 and configured tocontrollably extend or retract the at least one engaging element 215from housing 202 b. As such, the engaging element 215 can cause therobotic debridement apparatus 200 b to displace along a surface of thebody region, thereby traversing a distance.

Referring to FIG. 2C, a robotic debridement apparatus 200 c includes atleast one locomotive mechanism 204 c having at least one impellingmechanism 205 c. The impelling mechanism 205 c at least partiallyextends from the housing 202 c and is configured to engage a surface 207of the body region 209 to provide locomotion to the robotic debridementapparatus 200 c. The impelling mechanism 205 c can include one or morewheeled appendages, such as 1, 2, 3, 4, 5, 6, or more than six wheeledappendages. The locomotive mechanism 204 c can also include one or moreactuators 250 c. At least one of the actuators 250 c can be coupled toat least one of the wheeled appendages of the impelling mechanism 205 c.The one or more actuators 250 c can be configured to drive the wheeledappendages to provide locomotion to the robotic debridement apparatus200 c.

Referring to FIG. 2D, a robotic debridement apparatus 200 d includes atleast one locomotive mechanism 204 d having at least one impellingmechanism 205 d. The impelling mechanism 205 d at least partiallyextends from the housing 202 d and is configured to engage a surface 207of the body region 209 to provide locomotion to the robotic debridementapparatus 200 d. For example, the impelling mechanism 205 d can includea plurality of appendages (e.g., legs, protrusions, hooks,three-dimensional printed micropillar structures, or othersurface-engaging elements) configured to engage the surface 207 andpropel the robotic debridement apparatus 200 d forward. In anembodiment, the housing 202 d can be cylindrical or spherical in shapeand can roll along the surface 207 of the body region 209. For example,the locomotive mechanism 204 d can include one or more actuators 250 dconfigured to roll the robotic debridement apparatus 200 d along thesurface 207. In an embodiment, the appendages can act to engage the bodyregion 209 driven by rotational forces to provide locomotion.

Referring to FIG. 2E, a robotic debridement apparatus 200 e can includea locomotive mechanism 204 e. The locomotive mechanism 204 e can includea vibratory mechanism. For example, the vibratory mechanism can includeone or more actuators 250 e configured to vibrate the roboticdebridement apparatus 200 e. In an embodiment, the actuators 250 e canbe configured to induce directional movement. The direction that therobotic debridement apparatus 200 e travels (e.g., moves) can becontrolled by the excitation frequencies of the actuators 250 e.

In an example, the actuators 250 e can include at least onepiezoelectric material. The piezoelectric material can form part of apiezoelectric bending actuator, a piezoelectric unimorph, apiezoelectric bimorph, or a piezoelectric microactuator. Thepiezoelectric material can induce movement in the robotic debridementapparatus 200 e when the piezoelectric material is activated by anelectrical signal, thereby inducing movement in one or more componentsof the locomotive mechanism 204 e (e.g., legs, appendages, etc.) or inthe entire robotic debridement apparatus 200 e. In another example, theactuators 250 e include a unimorph actuator or a bimorph actuator. Inanother example, the actuators 250 e can include two-way linearactuators using springs made from a shape memory alloy. In anotherexample, the actuators 250 e can include a micromotor. In anotherexample, the actuators 250 e can include any other suitable actuatordisclosed herein

In embodiments, the locomotive mechanisms 204 e disclosed herein caninclude friction enhancements 217 on the housing 202 e or on anothercomponent of the robotic debridement apparatus 200 e. The frictionenhancements 217 can include at least one of one or moresurface-engaging protrusions, microprotrusions, setae, microvilli, oradhesive microvilli. In an embodiment, the friction enhancements 217 caninclude at least one three-dimensional printed micropillar structure. Inan embodiment, at least a portion of the friction enhancements 217 caninclude micro-patterning formed on the surface of the housing 202 e oranother component of the robotic debridement apparatus 200 e. Thefriction enhancements 217 can improve the efficiency of the movement ofthe robotic debridement apparatus 200 e when the robotic debridementapparatus is moved by the vibratory mechanism. It is noted that thefriction enhancements 217 can also improve the efficiency of movement ofany of the robotic debridement apparatuses disclosed herein.

Referring to FIG. 2F, a robotic debridement apparatus 200 f can includea locomotive mechanism 204 f including an impelling mechanism 205 f. Theimpelling mechanism 205 f can be similar to any of the impellingmechanisms disclosed herein. The locomotive mechanism 204 f can alsoinclude one or more actuators 250 f that are configured to vibrate atleast a portion of the robotic debridement apparatus 200 f. For example,the actuators 250 f can be configured to vibrate at least a portion ofthe impelling mechanism 205 f. The vibrations from the actuators 250 fcan provide locomotion to the robotic debridement apparatus 200 f.

Referring to FIG. 2G, the robotic debridement apparatus 200 g can beconfigured to touch, grasp, grip, or otherwise engage tissue on the bodyregion 209. In an embodiment, the robotic debridement apparatus 200 gincludes at least one locomotive mechanism 204 g having an impellingmechanism 205 g. The impelling mechanisms 205 g can be similar to any ofthe impelling mechanisms disclosed herein. The impelling mechanism 205 gcan include one or more grippers or graspers 219. The grippers orgraspers 219 can be configured to controllably engage (e.g., touch,grasp, grip, hook, suction, etc.) and disengage a surface 207 of thebody region 209. For example, the grippers or graspers 219 can includeprotrusions, three-dimensional printed micropillar structures,microvilli, etc. The grippers or graspers 219 can be operably coupled toone or more actuators 250 g that are configured to cause the grippers orgraspers 219 to controllably engage or disengage from the surface 207.In an embodiment, the grippers and graspers 219 can be used when therobotic debridement apparatus 200 e is debriding tissue from the bodyregion 209, disposing of at least one substance from the body region209, or providing a therapeutic effect to the body region 209.

In an embodiment, the robotic debridement apparatus 200 g can include atleast one anchor 221 positioned in or on the housing 202 g that isconfigured to controllably maintain the robotic debridement apparatus200 g in substantially the same location for a selected period of time.For example, the anchor 221 can include a harpoon or hook that engagesthe body region 209. For example, the anchor 221 can include a suctiondevice that is operably coupled to and configured to be suctioned to thebody region 209 or a dressing (e.g., dressing 1178 of FIGS. 11A-11B).The suction device can include a pump, compressor, etc. operably coupledto the body region 209 and configured to controllably provide a suctionforce that secures the robotic debridement apparatus 200 g insubstantially the same location. In an embodiment, the anchor 221 can beused when the robotic debridement apparatus 200 g is debriding tissuefrom the body region 209, disposing of at least one substance from thebody region 209, or providing a therapeutic effect to the body region209.

It is understood that the locomotive mechanisms disclosed herein caninclude locomotive mechanisms other than the locomotive mechanisms shownin FIGS. 1-2G. For example, a locomotive mechanism (e.g., locomotivemechanism 2004 of FIG. 20) can include a magnet positioned in or on thehousing 102. Another device (e.g., the dressing 2078 of FIG. 20) caninclude a magnetic field generator (e.g., magnetic field generator 2099of FIG. 20) positioned therein or thereon configured to generate amagnetic field that exerts a force on the magnet of the locomotivemechanism 104 to effect movement of the robotic debridement apparatus100. For example, the robotic debridement apparatus 100 can include aspherical housing (e.g., FIG. 2D) able to roll under the magnetic forcegenerated by the magnetic field generator.

Referring back to FIG. 1, in an embodiment, the locomotive mechanism 104can be reusable. For example, the locomotive mechanism 104 can beconfigured to be cleaned (e.g., sterilized, disinfected, etc.) betweenuses. In an embodiment, the locomotive mechanism 104 can be reversiblycoupled to the housing 102, for example, to facilitate cleaning of thelocomotive mechanism 104.

In an embodiment, the locomotive mechanism 104 can include a pluralityof locomotive mechanisms. In an embodiment, at least some of theplurality of locomotive mechanisms can be the same. In an embodiment, atleast some of the plurality of locomotive mechanisms can be different.For example, at least some of the locomotive mechanisms can be similarto the locomotive mechanism 104 (FIG. 1) and at least some of thelocomotive mechanisms can be similar to the locomotive mechanism 204 c(FIG. 2C)

In embodiments, the locomotive mechanism 104 can be omitted. Forexample, the locomotive mechanism 104 can be omitted in embodimentswhere the robotic debridement apparatus 100 is attached to a dressing(FIG. 22).

C. Sensors

Referring still to FIG. 1, the robotic debridement apparatus 100includes one or more sensors 108 configured to detect one or morecharacteristics of the body region or a substance thereon. For example,the sensors 108 can be positioned on the outer surface 116 of thehousing 102, or another portion of the housing 102 that enables thesensors 108 to detect (e.g., sense, quantify, etc.) one or morecharacteristics of the body region or substance. For example, thesensors 108 can be positioned on a surface-engaging element or theimpelling mechanism 105.

In an embodiment, the sensors 108 can be configured to detect at leastone target tissue or another tissue that is intended for treatment. Forexample, the sensors 108 can be configured to detect at least one ofnecrotic tissue, nonviable tissue, viable tissue, slough, fibrinoustissue, ischemic tissue, granulation tissue, connective tissue,epithelial tissue, endothelial tissue, or any other type of tissue. Forexample, the sensors 108 can detect inflammation, microbes, or toxins.In an embodiment, the sensors 108 can be configured to detect one ormore indicators that can indicate healthy, viable tissue; tissue in astate of disease or disorder; or nonviable, dying or dead tissue.Indicators can include, for example and without limitation, peptides,proteins, lipids, saccharides, cell markers, inflammatory markers,microbes, toxins, or any other suitable indicator. In an embodiment, thesensors 108 can be configured to detect one or more fluids released intothe body region by at least one robotic debridement apparatus positionedin the body region. For example, the sensors 108 can be configured todetect one or more debriding agents, one or more therapeutic agents, orone or more taggants.

In an embodiment, the sensors 108 can include at least one chemicalsensor. For example, the chemical sensor can include an electrochemicalsensor or cantilever chemical sensor. For example, the chemical sensorcan include a pH sensor configured to detect differences in pH. Forexample, the pH sensor can be configured to detect different pH levelsbetween at least two distinct regions of the body region or at least twotypes of tissue (e.g., necrotic tissue and viable tissue). In anembodiment, the chemical sensor can include a protein sensor. Forexample, the protein sensor can be configured to detect a heat shockprotein, calreticulin, or other proteins present in necrotic tissue. Inan embodiment, the chemical sensor can include a sensor configured todetect one or more chemicals released by viable tissue or by nonviabletissue. For example, the sensor can be configured to detect one or morechemical present in necrotic tissue, such as cytochrome c,galactosidase, high-mobility group protein B1 (HMGB1), glyceraldehyde3-phosphate dehydrogenase, vimentin, lamin A, soluble galactose-bindinglectin 7, or collagen. In an embodiment, the sensor 108 can beconfigured to detect one or more chemicals present in viable tissue,such as fibronectin 1, serine protease inhibitor 2b, transferrin, orhemoglobin.

In an embodiment, the chemical sensor can include a gas sensor. Forexample, the gas sensor can be configured to detect gases (e.g.,volatile organic chemicals) released by unhealthy tissue, healthytissue, or one or more taggants present in the body region. For example,the gas sensor can be an acoustic wave sensor, piezoelectric sensor, orelectronic nose sensor. In an embodiment, the chemical sensor caninclude a peroxide sensor (e.g., hydrogen peroxide sensor), a nitricoxide sensor, or a nitrate sensor. In an embodiment, the sensors 108 caninclude at least one optical sensor. In an embodiment, the opticalsensor can include a light sensor configured to detect different colors.For example, the light sensor can include a spectrophotometer and alight source. The light source can include a light-emitting diode, awhite light source, or a light source configured to provide light in atleast one of a variable or specific wavelength, such as infraredwavelength or ultraviolet wavelength. Such a light sensor can be used todistinguish nonviable tissue from viable tissue. For example, the lightsensor can distinguish between at least two of necrotic tissue (e.g.,typically dark or black), slough (e.g., typically white or yellow),fibrinous tissue (e.g., typically white or yellow), healthy granulationtissue (e.g., typically pink or red), unhealthy granulation tissue(e.g., typically dark red), or healthy new tissue (e.g., typicallypink). For example, the light sensor can distinguish between intacttissue (e.g., intact skin) and a wound. In an embodiment, the lightsensor can detect cellular autofluorescence. In an embodiment, the lightsensor can detect one or more taggants. For example, the taggant caninclude a dye, a fluorescent tag, etc. For example, the taggant caninclude an agent with a binding moiety and a moiety having opticalproperties, such as a chromogen, fluorescent agent, luminescent agent, aquantum dot, or an agent with an alterable optical density.

In an embodiment, the sensors 108 include at least one radiologicalsensor. For example, the sensors 108 can include a CMOS imager withaptamer functionalization to detect the presence of radio-labeled targetbiomolecules. In an embodiment, the sensors 108 include at least oneelectrical sensor. For example, the sensor 108 can include a sensor ableto detect an electrical charge. For example, the sensor 108 can includea transducer able to generate a signal in response to an electricalcharge.

In an embodiment, the optical sensor can include a topographical sensorconfigured to detect the topography of at least a portion of the bodyregion. For example, the topography of the body region can be used todetermine vascularization, grooves, pores, rough sections of the bodyregion, wet sections of the body region, shiny regions of the bodyregion, etc. For instance, vascularization can indicate healthy tissue,rough sections of the body region can indicate hypergranulation tissue,and wet or shiny sections of the body region can indicate fibrinoustissue. In another example, the topography of the body region can beused to detect an indentation that the robotic debridement apparatus 100forms in the body region (e.g., the robotic debridement apparatus 100would make a larger indentation in the relatively soft inflamed tissuethan in the relative hard healthy tissue). In an embodiment, the opticalsensor can include an optical scattering sensor configured todistinguish between necrotic, sloughing, and healthy tissue. In anembodiment, the optical sensor can include a near-infrared spectroscopysensor. For example, the near-infrared spectroscopy sensor can detectthe oxygenation levels of the tissue, which can be used, for example, todistinguish different types of tissue. In an embodiment, the opticalsensor can include an optical coherence tomography sensor, a diffusereflectance spectroscopy sensor, or a fluorescence spectroscopy sensor.

In an embodiment, the sensor 108 can include at least one acousticsensor. For example, the acoustic sensor can include an acoustictransducer, (e.g., an ultrasound transducer). For example, the acousticsensor can detect tissue density and different tissue densities canindicate different types of tissue. For example, the acoustic sensor candetect tissues with higher water content (e.g., healthy, viable tissues)and distinguish them from tissues with little or no water content (e.g.,dry necrotic tissue).

In an embodiment, the sensors 108 can include at least one thermalsensor (e.g., bimetal, thermistor, thermocouple, resistance thermometer,etc.). For example, different types of tissue can exhibit differenttemperatures (e.g., necrotic tissue vs. non-necrotic tissue, inflamedtissue vs. non-inflamed tissue).

In an embodiment, the sensors 108 can include at least one electricalconductivity sensor. For example, different types of tissue can exhibitdifferent conductivities. In an embodiment, the sensors 108 can includeat least one moisture sensor configured to detect moisture. For example,a dry necrotic wound can exhibit a low moisture content, healthy tissuecan exhibit a higher moisture content than the dry necrotic wound, whilefibrinous tissue can exhibit an even higher moisture content than thehealthy tissue. For example, high levels of moisture can indicate sloughor excess exudate. For example, a moisture sensor can distinguishbetween intact tissue (e.g., skin) having a low moisture contact and awound having a higher moisture content.

In an embodiment, the sensors 108 can include at least one contactsensor configured to detect which portions of the robotic debridementapparatus 100 are contacting the body region. For example, soft,nonviable tissue might contact a larger portion of the roboticdebridement apparatus 100 than the relatively harder healthy tissue.Other suitable contact sensors include force-displacement sensors thatcontact the body region, for example. The force-displacement sensors canmeasure tissue hardness, because relatively soft tissue requires arelatively lower force from the force-displacement sensor thanrelatively hard tissue in order to be indented to the same depth by theforce-displacement sensor. Other suitable contact sensors include atleast one force-displacement sensor that contacts the body region. Theforce-displacement sensor can measure tissue hardness because relativelysoft necrotic tissue requires a relatively lower force from theforce-displacement sensor than relatively hard healthy tissue to beindented to the same depth by the force-displacement sensor. In anotherexample, the contact sensor can include a brush sensor (e.g., at leastone three-dimensional printed micropillar structure) configured to sensea topography of a body region.

In an embodiment, the sensors 108 can include at least one locationsensor configured to detect the position of the robotic debridementapparatus 100. For example, the at least one location sensor can includean electromagnetic sensor, a sound sensor, etc. The location sensor canbe configured to determine a location thereof relative to one or morelocations proximate to the robotic debridement apparatus 100, relativeto one or more other robotic debridement apparatuses, relative to one ormore taggants or physical markers added to the body region, one or morefeatures of the body region, or one or more features of a dressing(e.g., dressing 1178 of FIGS. 11A-11B), etc. In an embodiment, thesensors 108 do not include a location sensor. In an embodiment, thesensor is a global positioning sensor.

In an embodiment, the sensors 108 can comprise a sensor array. Forexample, the sensors 108 can include a phased array. For example, thesensors 108 can include an array of optical sensors. For example, thesensors 108 can include an array of acoustic sensors. In an embodiment,the sensor array can be configured to determine one or more of adirection, a gradient, or a location.

In an embodiment, the sensors 108 can transmit one or more sensingsignals. For example, the sensors 108 can transmit one or more sensingsignals responsive to detecting the one or more characteristics of thebody region. For example, the sensing signals can include data encodedtherein indicating different types of tissue detected. For example, thesensing signals can include data encoded therein indicating the locationof the different types of tissue relative to the robotic debridementapparatus 100, the presence and location of other robotic debridementapparatuses, the presence and location of different agents present inthe body region, etc. In an embodiment, the sensors 108 can transmit theone or more sensing signals to one or more components of the roboticdebridement apparatus 100 (e.g., the controller 112). In an embodiment,the sensors 108 can transmit the one or more sensing signals to a devicedistinct and separate from the robotic debridement apparatus 100 (e.g.,the dressing 1178 of FIGS. 11A-11B, the external device 127, etc.). Thedevice can use the transmitted signals to at least partially control theoperation of the robotic debridement apparatus 100, display informationrelated to the robotic debridement apparatus 100 (e.g., progressreports, errors, etc.), create electronic records, etc. In anembodiment, the sensors 108 can sense the characteristics or transmitthe one or more sensing signals responsive to direction from thecontroller 112.

D. Controllers

As discussed above, the controller 112 of the robotic debridementapparatus 100 can be communicatively coupled to one or more componentsof the robotic debridement apparatus 100. For example, the controller112 can be communicably coupled to at least one of the locomotivemechanism 104, the debriding tool 106, the debris disposal device (e.g.,any of the debris disposal devices 452 a-j of FIGS. 4A-4J), thetherapeutic device (e.g., any of the therapeutic devices 562 a-b ofFIGS. 5A-5B), the sensors 108, the power source 110, etc. The controller112 can include control electrical circuitry (e.g., memory 122, atransceiver 124, and a processor 126) configured to control all or atleast one of the components that are communicably coupled to thecontroller 112. For example, the controller 112 can be configured tocontrollably activate the locomotive mechanism 104, thereby controllablyrelocating (e.g., moving) the robotic debridement apparatus 100. Forexample, the controller 112 can direct the locomotive mechanism 104 tocontrollably move the robotic debridement apparatus 100, for example, totravel to a selected portion of the body region (e.g., a portion of thebody region having necrotic tissue) or in a specified manner (e.g., at acertain speed or in a certain pattern). In an embodiment, the controller112 can be configured to controllably activate at least one of thedebriding tool 106, the debris disposal device, or the therapeuticdevice, thereby controllably facilitating debridement of the bodyregion.

In some embodiments, the controller 112 can be omitted from the roboticdebridement apparatus 100. For example, the controller 112 can belocated in a device distinct from and communicably coupled to therobotic debridement apparatus 100 (e.g., another robotic debridementapparatus, the dressing 1178 of FIGS. 11A-11B, etc.) or the controller112 can be omitted entirely.

The controller 112 can be communicably coupled, either directly orindirectly, to one or more components of the robotic debridementapparatus 100. For example, the housing 102 can include wires or awireless device (e.g., Bluetooth, Wi-Fi) that couples the controller 112to the one or more components of the robotic debridement apparatus 100.Therefore, the controller 112 can be remote from at least one of thelocomotive mechanism 104, the debriding tool 106, the debris disposaldevice, the therapeutic device, the sensors 108, or the power source110. In an embodiment, the controller 112 can at least partially bepositioned within or incorporated into at least one of the locomotivemechanism 104, the debriding tool 106, the debris disposal device, thetherapeutic device, the sensors 108, or the power source 110.

The controller 112 can include the memory 122, or the memory 122 can beseparate from and communicably coupled to the controller 112. The memory122 can be configured to store one or more operational instructionstherein. The memory 122 can include non-transitory memory, such asrandom access memory (RAM), read only memory (ROM), a hard drive, adisc, flash memory, other types of memory electrical circuitry, or othersuitable memory. The operational instructions stored on the memory 122can include a program configured to operate the robotic debridementapparatus 100, information about the robotic debridement apparatus 100and the components thereof, information gathered by the roboticdebridement apparatus 100 (e.g., from the sensors 108), or additionalinformation.

In addition or alternative to the memory 122, the controller 112 caninclude a transceiver 124 configured to receive one or more operationalinstructions from or to a user or a program or transmit informationtherefrom. For example, the transceiver 124 can be communicably coupledto a device (e.g., computer, cellphone, etc.) that is spaced or remotefrom the transceiver 124. The transceiver 124 can then transmit thereceived operational instructions to at least one of a processor 126 orthe memory 122 (e.g., the transceiver 124 is communicably coupled to atleast one of the processor 126 or the memory 122). For example, thetransceiver 124 can transmit information (e.g., sensing signals from thesensors 108 or operational instructions from the controller 112) toanother robotic debridement apparatus or to a dressing.

In an embodiment, the transceiver 124 can transmit information to acentral location (e.g., computer, cellphone) where information can becompiled, stored, or accessed. The central location may include a userinterface that can display at least a portion of the information to auser (e.g., graph the healing of a wound, indicate that an infection wasdetected, etc.) and enable the user to communicate with the controller112. In an embodiment, the transceiver 124 can transmit information tothe user. The information transmitted to the user can include thesensing signals, the status of the robotic debridement apparatus 100,the amount or type of tissue to be debrided or already debrided, anassessment of “mapping” of the target tissue or body region of thesubject, the status of a particular debridement program, an alert thatsomething has gone wrong with the apparatus or with the program, arecommendation to change the program based on particular criteria (e.g.,subject is in pain, tissue damage is greater or less than first thought,healing has occurred faster than anticipated, etc.), physiological databased on sensed signals, or other information related to the apparatus,the system, or the target tissue.

The processor 126 of the controller 112 can be configured to directcertain operations of the robotic debridement apparatus 100 according tothe operational instructions. For example, the processor 126 can receivethe operational instructions from the memory 122 or the transceiver 124.The operational instructions can include a program encoded therein thatenables the controller 112, via the processor, to operate the roboticdebridement apparatus 100 automatically (e.g., with little to no outsideinstructions).

In an embodiment, the controller 112 can be operably coupled to anexternal device 127 that is spaced from the housing 102. For example,the external device 127 can be wiredly or wirelessly coupled to thecontroller 112. In an embodiment, the external device 127 can includememory, at least one processor, a display, a user interface, or at leastone input device (e.g., mouse, keyboard, touchscreen). For example, theexternal device 127 can include a computer, a laptop, a cellphone, atablet, etc. For example, the external device 127 can include a bodyresident device. For example, the external device 127 might include askin-resident, organ-resident, or conformable electronic (e.g., anepidermal electronic). For example, the external device 127 can includeor utilize a body area network. The external device 127 can transmit oneor more command signals to the controller 112. For example, the one ormore command signals can include one or more user-directed commandsencoded therein that at least partially supersede any program that isexecuted by the processor 126. As such, the user-directed commands canallow a user to remotely control at least one operation of the roboticdebridement apparatus. In another example, the one or more commandsignals can include one or more new programs that are downloaded to andstored on the memory 122. The new programs can at least partiallysupersede or supplement any program previously or currently stored onthe memory 122 or executed by the processor 126.

In an embodiment, the controller 112 can transmit one or moreinformational signals to the external device 127. The one or moreinformation signals can include information related to the roboticdebridement apparatus 100 encoded therein. For example, the one or moreinformation signals can include at least one of one or more sensingsignals detected by the sensors 108, the status of the roboticdebridement apparatus 100 or one or more components thereof, etc., orother information as described herein, such as information related tothe apparatus, the system, or the target tissue of the subject. Theexternal device 127 can display at least a portion of informationencoded in the information signals to the user (e.g., the subject, ahealthcare worker, computer, or third party) using the display.

In an embodiment, the external device 127 includes at least one of acomputing device or a network including electronic records. For example,the external device 127 can include information stored therein (e.g., anelectronic medical record of the subject). In an embodiment, the one ormore information signals can include information related to operation ofthe robotic debridement apparatus 100 in regards to the subject (e.g.,the history of debriding the target tissue or sensed characteristics ofthe body region and tissue therein) that can be added to the electronicmedical record.

In an embodiment, the external device 127 is omitted. In an embodiment,the controller 112 is omitted, and the external device 127 controls theoperation of one or more components of the robotic debridement apparatus100 (e.g., the robotic debridement apparatus 100 includes a transceiverthat receives one or more operational instructions or one or morecommand signals from the external device 127).

E. Power Sources

The robotic debridement apparatus 100 can include at least one powersource 110 coupled to and configured to supply electrical power to theone or more components of the robotic debridement apparatus 100. Forexample, the power source 110 can be coupled to at least one of thelocomotive mechanism 104, the debriding tool 106, the debris disposaldevice (e.g., any of the debris disposal device 452 a-j of FIGS. 4A-4J),the therapeutic device (e.g., any of the therapeutic devices 562 a-b ofFIGS. 5A-5B), the sensors 108, the controller 112, or another componentof the robotic debridement apparatus 100. In an embodiment, the powersource 110 can controllably supply electrical power to the one or morecomponents responsive to, for example, direction from the controller112.

In an embodiment, the power source 110 can include any device configuredto store power (e.g., electrical power) therein. For example, the powersource 110 can include at least one battery (e.g., a microbattery orthin-film battery) or at least one capacitor.

In an embodiment, the power source 110 can include a device that isrechargeable. In an embodiment, as will be discussed in more detaillater, the power source 110 can include a power receiver (e.g., powerreceiver 1998 of FIG. 19) configured to receive power (e.g., wirelesslyor wiredly) from an external power source. The received power can thenbe stored in the power source 110 or transmitted to one or morecomponents of the robotic debridement apparatus 100. In an embodiment,the power source 110 can be at least partially replaceable. For example,the power source 110 can include a battery that is removable from therobotic debridement apparatus 100. In an embodiment, the power source110 is neither rechargeable nor replaceable.

In an embodiment, the power source 110 can include a power-generatingmechanism. For example, the power source 110 can include a piezoelectricpower generator configured to generate electrical power by harvestingenergy from the movements of the robotic debridement apparatus 100, thelocomotive mechanism 104, or the body region. In an embodiment, thepower source 110 can include a thermal electric power generator that isconfigured to generate electrical power from temperature gradientswithin the robotic debridement apparatus 100 or the body region. In anembodiment, the power source 110 can include one or more photovoltaiccells. In an embodiment, the power source 110 only includes apower-generating mechanism. In an embodiment, the power source 110includes a power-generating mechanism and at least one other device(e.g., a battery, a capacitor, or a power receiving device).

As previously discussed, the one or more robotic debridement apparatusesdisclosed herein include one or more of at least one debriding tool, atleast one debris disposal device, or at least one therapeutic device.For example, the robotic debridement apparatuses disclosed herein caninclude one of, two or more of, or each of the at least one debridingtool, the at least one debris disposal device, or the at least onetherapeutic device. Each of the debriding tool, the debris disposaldevice, and the therapeutic device is configured to facilitatedebridement of tissue from the body region. In some embodiments, therobotic debridement apparatuses disclosed herein can also include atleast one marking device configured to dispense one or more taggants onthe body region of the subject (e.g., identify a marker indicating aspecific tissue type, outlining a “map” of an area to be treated or anarea already treated, etc.). In some embodiments, the roboticdebridement apparatuses disclosed herein can also include at least oneextraction device configured to facilitate disposal or removal of therobotic debridement apparatuses from the body region of the subject.

F. Debriding Tools

FIGS. 3A-3O are schematic illustrations of robotic debridementapparatuses including different debriding tools, according to differentembodiments. The debriding tools disclosed herein are configured todebride tissue (e.g., at least one target tissue) from a body region ofthe subject. For example the debriding tools are configured to debrideat least one of healthy tissue or unhealthy tissue, depending on aparticular goal as determined by factors set forth herein. Inparticular, the debriding tools disclosed herein may be configured topreferentially (e.g., selectively) debride unhealthy tissue from thebody region (e.g., minimally debrided and preserve viable tissue).

Except as otherwise described herein, the robotic debridementapparatuses shown in FIGS. 3A-3O and their materials, components, orelements can be similar to or the same as the robotic debridementapparatuses 100, 200 a-g (FIGS. 1, 2A-2G) and its respective materials,components, or elements. For example, the robotic debridementapparatuses shown in FIGS. 3A-3O can include at least one of a housing,at least one locomotive mechanism, at least one debris disposal device,at least one therapeutic device, one or more sensors, a controller, or apower source. Any of the debriding tools illustrated in FIGS. 3A-3O canbe used in any of the robotic debridement apparatuses embodimentsdisclosed herein.

The debriding tools illustrated herein or any portion thereof may bemade of plastic, metal, alloys, ceramic, fiber, carbon, cobalt, silicon,glass, polymer, or any other suitable material. In addition, thedebriding tools disclosed herein can have various shapes, sizes, andlengths. Selection of a particular type of configured of the debridingtools illustrated herein can be at least partially based on the type,size, and shape of the target tissue of the body region. The debridingtools disclosed herein and components thereof can be manufactured bystandard techniques. For example, the debriding tools disclosed hereinand portions thereof can be manufactured using photolithographic etchingor micromachining, or can be manufactured in plastic via an injectionmolding process. The debriding tools disclosed herein and portionsthereof can be manufactured by an additive manufacturing process.Examples of additive manufacturing processes include liquid-basedprocesses, e.g., stereolithography, jetted photopolymer, and ink jetprinting; powder-based processes, e.g., selective laser sintering,direct metal laser sintering, and three-dimensional printing; andsolid-based processes, e.g., laminated object manufacturing, fuseddeposition modeling. In an embodiment, the debriding tools illustratedherein or any portion thereof may be consumable, replaceable, ordisposable.

FIG. 3A illustrates an embodiment of a robotic debridement apparatus 300a that includes at least one debriding tool 306 a associated (e.g.,positioned) in or on a housing 302 a of the robotic debridementapparatus 300 a. For example, the debriding tool 306 a can include atleast one blade 329 a extending from the housing 302 a. In embodiments,the blade 329 a can be a sharp cutting tool. For example, the blade 329a can be sharp, flat, smooth, rough, or serrated. For example, the blade329 a can include at least one edge or surface that is configured to cuttissue (e.g., cutting edge), scrape tissue, or abrade tissue (e.g.,scraping edge). In an embodiment, the blade 329 a can exhibit at leastone of a negative rake angle, a positive rake angle, or a zero rakeangle. The blade 329 a can debride tissue as the housing 302 a movesrelative to the body region or as the blade 329 a moves relative to thehousing 302 a. The depth the blade 329 a debrides tissue from the bodyregion can depend on one or more of a rake angle, a distance the blade329 a extends from the outer surface 316 a, a force applied to thedebriding tool 306 a, etc. In an embodiment, the debriding tool 306 aincludes a plurality of blades 329 a configured in a pattern (e.g., arandom pattern, a linear pattern, an arrayed pattern, etc.). In anembodiment, the blades 329 a move independently from each other. In anembodiment, the blades 329 a move in unison.

In an embodiment, the blade 329 a can include a cutting edge. Forexample, the blade 329 a can include a surgical blade. The cutting edgecan include a first surface and a second surface extending therefrom.The smallest angle between the first surface and the second surface isless than about 60°, such as less than about 30°, about 30° to about34°, about 34° to about 44°, or about 44° to about 60°. The anglebetween the first surface and the second surface can depend on thehardness of a material at the cutting edge, the type of tissue to bedebrided, etc.

In an embodiment, the debriding tool 306 a can include at least onestructure 331 a that is substantially planar, lenticular, or rounded.The structure 331 a can extend from at least a portion of the housing302 a. The blade 329 a can extend from the structure 331 a. In anembodiment, the structure 331 a can be omitted and the blade 329 a canextend outwardly from or attached to at least a portion of at least oneouter surface 316 a of a housing 302 a.

FIG. 3B illustrates a robotic debridement apparatus 300 b that issubstantially similar to the robotic debridement apparatus 300 a (FIG.3A). For example, the robotic debridement apparatus 300 b can include atleast one debriding tool 306 b associated (e.g., positioned) in or on ahousing 302 a of the robotic debridement apparatus 300 a

The debriding tool 306 b can include at least one blade 329 b. The blade329 b can include one or more scraping tools having a scraping edge orsurface. For example, the blade 329 b can be a flat blade that includesa scraping edge or surface designed to scrape necrotic tissue away froma wound site, while not affecting viable tissue. For example, thescraping edge or surface may be a sharp edge or a serrated edge. Forexample, the scraping edge or surface can form a curette, such as ascoop, hook, gouge, or similar device. For example, the scraping edge orsurface may be a dull edge. For instance, the scraping edge can includea first surface and a second surface extending therefrom. The anglebetween the first surface and the second surface can be greater thanabout 60°, such as about 90°. In an embodiment, the scraping edge caninclude a chamfer or a rounded edge.

In an embodiment, the debriding tool 306 b can include only the at leastone blade 329 b. In an embodiment, the debriding tool 306 b can includeat least one blade 329 a (e.g., sharp cutting tool) and at least oneblade 329 b (e.g., scraping tool). In an embodiment, the debriding tool306 b can include a structure 331 b extending from the housing 302 b andat least one of the blades 329 a, 329 b can extend from the structure331 b. In an embodiment, at least one of the blades 329 a, 329 b canextend from the housing 302 b.

FIG. 3C illustrates a robotic debridement apparatus 300 c that includesat least one debriding tool 306 c associated (e.g., positioned) in or ona housing 302 c of the robotic debridement apparatus 300 c. Thedebriding tool 306 c can include one or more protrusions 330 c. In anembodiment, protrusions 330 c can be of any configuration sufficient toabrade the desired or target tissue. For example, the protrusions 330 ccan include finger-like protrusions, hair-like protrusions, or bristles.For example, each protrusion 330 c can have at least one scraping edge.For example, each of the protrusions 330 c can be formed of a materialwith sufficient stiffness to abrade the target tissue. In an embodiment,the protrusions 330 c can include microprotrusions.

In an embodiment, the protrusions 330 c can include a plurality ofprotrusions 330 c. For example, at least some of the plurality ofprotrusions 330 c can be substantially similar. In another example, atleast some of the plurality of protrusions 330 c can be different fromeach other. For instance, at least one of the plurality of protrusions330 c can be formed from at least one first material and at least one ofthe plurality of protrusions 330 c can be formed from at least onesecond material that is different than the at least one first material.The different protrusions 330 c can be randomly mixed together orarranged in one or more patterns or arrangements (e.g., the plurality ofprotrusions 330 c are arranged in an array).

In an embodiment, the debriding tool 306 c can include a structure 331 cthat is substantially planar, lenticular, or rounded. The structure 331c can include at least some of the protrusions 330 c extendingtherefrom. For example, the structure 331 c can include at least one ofthe protrusions 330 c arranged thereon or therein, either randomly or inone or more patterns or arrangements. For example, the protrusions 330 ccan be attached to, embedded in, or integral to the structure 331 c. Inan embodiment, the structure 331 c can be omitted and the protrusions330 c can extend outwardly from or be attached to at least a portion ofat least one outer surface 316 c of a housing 302 c.

In an embodiment, the debriding tool 306 c can debride tissue as thehousing 302 c moves relative to the body region. In an embodiment, thedebriding tool 306 c can debride tissue as the debriding tool 306 c(e.g., the structure 331 c or the protrusions 330 c) move relative tothe housing 302 c. In an embodiment, the protrusions 330 c can vibrate,oscillate or otherwise move, individually or as an array, relative tothe structure 331 c, structure 331 c, or housing 302 c.

FIG. 3D illustrates a robotic debridement apparatus 300 d that includesat least one debriding tool 306 d. In an embodiment, the debriding tool306 d can include at least one structure 331 d that substantiallyencloses (e.g., encircles) at least a portion of the housing 302 d. Inan embodiment, the structure 331 d can be rotatably mounted around androtatable around the housing 302 d. The debriding tool 306 d can includea plurality of protrusions 330 d extending from and attached to at leasta portion of the structure 331 d. In an embodiment, the structure 331 dcan be omitted and the protrusions 330 d can extend outwardly from orattached to at least a portion of at least one outer surface 316 d of ahousing 302 d such that the protrusions 330 d substantially encircles atleast a portion of the housing 302 d.

FIG. 3E illustrates an embodiment of a robotic debridement apparatus 300e that includes at least one debriding tool 306 e. The debriding tool306 e can be similar to the debriding tool 306 b (FIG. 3B). For example,the debriding tool 306 e can include at least one structure 331 e and atleast one blade 329 e. The debriding tool 306 e can also at least oneabrasive material 332 e that positioned on (e.g., coats) at least aportion of the debriding tool 324 e (e.g., at least partially coats theblade or the structure 331 e). In an embodiment, the abrasive material332 e can additionally or alternatively be positioned on at least aportion of at least one outer surface 316 e of the housing 302 e. Theabrasive material 332 e can debride tissue as the robotic debridementapparatus 300 e moves (e.g., vibrates) relative to the body region or asthe debriding tool 306 e moves relative to the housing 302 e, asdescribed herein.

In an embodiment, the abrasive material 332 e can include one or morematerials having a hardness greater than at least one tissue to bedebrided. For example, the abrasive material 332 e can include amaterial that is harder than at least one nonviable tissue but is softerthan at least one healthy tissue. As such, the abrasive material 332 epreferentially debrides the nonviable tissue versus viable tissue. In anembodiment, the abrasive material 332 e can include a material that isharder than at least one nonviable tissue and at least one viabletissue. In an embodiment, the abrasive material 332 e can include amaterial that is softer than at least one nonviable tissue or at leastone viable tissue. In an embodiment, the abrasive material 332 e caninclude at least one of silicon carbide, silicon nitride, silicondioxide, metal, diamond, ceramic, glass, nylon, a mineral compound, asynthetic compound (e.g., polyethylene or polypropylene), a natural ororganic compound (e.g., grain, seed, nut, nutshell, mollusk shell,etc.), a crystal (e.g., aluminum oxide, magnesium oxide, sodiumchloride, and sodium bicarbonate), and the like. In an embodiment, theabrasive material 332 e can include a biocompatible material, such assilicon nitride or titanium. In an embodiment, the abrasive material 332e can include a grit size of about 8 to about 1200, such as about 8 toabout 34, about 30 to about 60, about 70 to about 180, or about 320 toabout 1200. In an embodiment, the abrasive material 332 e can include amicroabrasive or a nanoabrasive.

FIG. 3F illustrates an embodiment of a robotic debridement apparatus 300f that includes at least one debriding tool 306 f. In an embodiment, theat least one debriding tool 306 f can include at least one structure 331f that is similar to the structure 331 c (FIG. 3C). The debriding tool306 f can include at least one abrasive material 332 f that at leastpartially coats the structure 331 f. In an embodiment, the at least oneabrasive material 332 f can coat at least a portion of the outer surface316 f of the housing 302 f.

FIG. 3G illustrates an embodiment of a robotic debridement apparatus 300g that includes at least one debriding tool 306 g. The debriding tool306 g can include at least one abrasive material 332 g that ispositioned on (e.g., coats) at least a portion of an outer surface 316 gof the housing 302 g of the robotic debridement apparatus 300 g. Theabrasive material 332 g can debride tissue from a body region when therobotic debridement apparatus 300 g moves relative to the body region.For example, the robotic debridement apparatus 300 g can be similar tothe robotic debridement apparatus 200 e (FIG. 2E) and the abrasivematerial 332 g can debrided tissue as the robotic debridement apparatus300 g vibrates.

FIG. 3H illustrates an embodiment of a robotic debridement apparatus 300h that includes at least one debriding tool 306 h having at least oneenergy-emitting device 334. The energy-emitting device 334 can beassociated (e.g., positioned) in or on a housing 302 h of the roboticdebridement apparatus 300 h in a manner that allows the energy-emittingdevice 334 to emit energy 333 h (e.g., electromagnetic energy, acousticenergy, electrical energy, thermal energy, etc.) into the body region.For example, a portion of the energy-emitting device 334 that emitsenergy 333 h can at least partially extend from at least one outersurface 316 h of the housing 302 h. In an embodiment, theenergy-emitting device 334 can controllably emit the energy 333 hresponsive to direction from a controller (e.g., controller 112 of FIG.1).

In an embodiment, the energy-emitting device 334 can be configured toemit acoustic energy. For example, the energy-emitting device 334 caninclude an ultrasound device configured to emit ultrasonic energy at afrequency that affects target tissue to be debrided. For example, theultrasound device can emit low frequency ultrasound that dislodgesnonviable tissue. For example, the ultrasound device can emit ultrasonicenergy that kills infecting microbes. For example, the ultrasound devicecan emit ultrasonic energy at a wavelength that stimulates healing. Theultrasonic energy can exhibit a frequency of about 20 kHz to about 10GHz, such as about 20 kHz to about 60 kHz. The energy-emitting device334 can directly contact the tissue or be spaced from the tissue (e.g.,about 1 μm to about 5 μm) when the energy-emitting device 334 emits theacoustic energy 333.

In an embodiment, the energy-emitting device 334 can be configured toemit electromagnetic energy. For example, the energy-emitting device 334can include a light-emitting device such as a laser, a light emittingdiode, etc. In an embodiment, the energy-emitting device 334 can emitelectromagnetic energy at a wavelength that is absorbed by a selectedtissue to be debrided. Absorbing the electromagnetic energy can heat theselected tissue, thereby destroying the selected tissue. In anembodiment, the energy-emitting device 334 can emit electromagneticenergy at a wavelength and intensity able to cut the selected tissuefrom the body region. In an embodiment, the energy-emitting device 334can emit electromagnetic energy at a wavelength that can ablate tissue.

In an embodiment, the robotic debridement apparatus 300 h includes thedebriding tool 306 h and at least one additional debriding tool (notshown). The at least one debriding tool 360 h can include any of thedebriding tools disclosed herein. The debriding tool 306 h can beconfigured to act in concert with the at least one additional debridingtool. For example, the debriding tool 306 h can include an ultrasounddevice configured to act in concert with any of the debriding toolsdisclosed herein, such as a blade, a scraping device, a protrusion, oran abrasive device to debride the tissue. For example, the ultrasounddevice can be configured to motivate the debriding tool, such asinducing a vibration or acoustic response in the debriding tool. Forexample, the ultrasound device can be configured to act in concert withdevice configured to dispense one or more debriding agents (debridingagents 333 i of FIG. 3I).

FIG. 3I illustrates an embodiment of a robotic debridement apparatus 300i that includes at least one debriding tool 306 i associated (e.g.,positioned) in or on a housing 302 i of the robotic debridementapparatus 300 i. In the illustrated embodiment, the debriding tool 306 iincludes a device configured to dispense one or more debriding agents333 i into or onto a body region of the subject. For example, the one ormore debriding agents 333 i can include a fluid (e.g., a liquid or agas) suitably composed to debride tissue. For example, the one or moredebriding agents 333 i can include an abrasive (e.g., particles,crystals, or a powder) suitably composed to debride tissue. For example,the one or more debriding agents 333 i can include a gel or colloidsuitably composed to debride tissue.

The debriding tool 306 i can include at least one debriding agentreservoir 335 i positioned in or on the housing 302 i configured tostore the debriding agents 333 i therein. The debriding agent reservoir335 i can be fluidly coupled to at least one debriding-dispense element336 i positioned in or on the housing 302 i via a conduit 338 i. In anembodiment, the debriding-dispense element 336 i can be directly coupledto or integrally formed with the debriding agent reservoir 335 i. Thedebriding-dispense element 336 i can include a debriding-dispenseaperture 340 i through which the debriding agents 333 i are dispensed atthe body region. The at least one debriding-dispense aperture 340 i canform part of a sprayer, a slit nozzle, etc. In an embodiment, thedebriding tool 306 i can be configured to controllably dispense thedebriding agents 333 i responsive to direction from a controller 312 i.

The debriding agents 333 i can include any physical, biological, orchemical agent composed to debride at least one target tissue from thebody region. In an embodiment, the debriding agent 333 i can include oneor more fluids, such as a liquid, aerosol, or gas. For example thedebriding agent 333 i can include a liquid, aerosol, or gas comprisingsuperoxidized water or a peroxide. In an embodiment, the debriding agent333 i can include one or more lytic agents. For example, the lyticagents can include elastase, collagenase, myeloperoxidase, acidhydrolase, lysosomal enzymes, phagocytic cells, combinations thereof, orany suitable lytic agent. In an embodiment, the debriding agents 333 ican include one or more enzymatic agents. The enzyme agents can includeat least one of bacterial collagenase, papain, urea, fibrinolysin,DNase, trypsin, streptokinase, streptodornase, subtilisin, matrixmetalloproteinase, serine proteases, aspartyl proteinase, nuclease, oranother enzyme. In an embodiment, the debriding agents 333 i can includeat least one nonspecific tissue-degrading agent or reactive chemical(e.g., alkaline agent, oxidizing agent, or nucleophilic agent). In anembodiment, the debriding agent 333 i can include an abrasive, forexample, but not limited to, a composition including particles,crystals, or a powder of any abrasive listed herein. In an embodiment,the debriding agent 333 i can include a chemical abrasive such astrichloroacetic acid, glycolic acid, or an abrasive cleanser. In anembodiment, the debriding agent 333 i can include a colloid, gel, oremulsion. In an embodiment, the debriding agent 333 i can include ahydrocolloid or hydrogel. For example, the debriding agent 333 i caninclude an agent used in wet-to-dry mechanical debridement of necrotictissue, such as a hydrogel or liquid bandage that dries over time to beremoved manually or by a debridement apparatus as described herein,thereby debriding the tissue. In an embodiment, the debriding agents 333i can include a combination of lytic agents, enzyme agents, hydrogel, oranother suitable debriding agent. In an embodiment, the debriding agents333 i can include a washing agent or irrigation solution. For example,the debriding agent 333 i can include at least one of one or morebiocompatible fluids (e.g., saline, water, Ringer's solution, sodiumhypochlorite), one or more antiseptics (e.g., superoxidized water,hydrogen peroxide, Povidone iodine), or one or more detergents, or oneor more surfactants.

FIG. 3J illustrates an embodiment of a robotic debridement apparatus 300j that includes at least one debriding tool 306 j associated (e.g.,positioned) in or on a housing 302 j of the robotic debridementapparatus 300 j. In the illustrated embodiment, the debriding tool 306 jis configured to dispense a pressurized fluid 333 j into the body regionwith sufficient force to debride tissue (e.g., necrotic tissue,fibrinous tissue, ischemic tissue, granulation tissue, connectivetissue, epithelial tissue, endothelial tissue, or another targettissue). For example, the pressurized fluid 333 j can be any liquid,gas, aerosol, powder, colloid, or combination thereof as describedherein, including but not limited to a debriding agent 333 i (FIG. 3I).In an embodiment, the pressurized fluid 333 j includes superoxidizedwater. In an embodiment, the pressurized fluid 333 j includes saline.For example, the pressurized fluid 333 j can be a high-pressure jet orother type of high-pressure stream(s) of fluid that has a pressuresufficient to separate at least one target tissue from other tissue. Forexample, the debriding tool 306 j can be configured to controllablydispense fluids under pressure to irrigate the body region or todislodge a target tissue.

The debriding tool 306 j can include a fluid reservoir 335 j positionedin or on the housing 302 j. The fluid reservoir 335 j can be configuredto store one or more fluids therein. The fluid reservoir 335 j can befluidly coupled to a fluid-dispense element 336 j positioned in or onthe housing 302 j via a conduit 338 j. In an embodiment, thefluid-dispense element 336 j can be directly coupled to or integrallyformed with the fluid reservoir 335 j. The fluid-dispense element 336 jcan dispense the pressurized fluids 333 j into or onto the body regionusing at least one fluid-dispense aperture 340 j configured to dispensethe pressurized fluids 333 j. The at least one fluid-dispense aperture340 j can include a sprayer, a slit nozzle, etc. In an embodiment, thedebriding tool 306 j can be configured to controllably dispense thedebriding agents responsive to direction from a controller 312 j.

The pressurized fluids 333 j dispensed from the fluid-dispense element336 j can be pressurized in any suitable manner. For example, thedebriding tool 306 j can include a pressurizing device 342 (e.g., apump, compressor, or actuator) positioned in or on the housing 302 jthat is fluidly coupled to at least one of the fluid reservoir 335 j,the fluid-dispense element 336 j, or the conduit 338 j. The pressurizingdevice 342 can create a pressure gradient that causes the pressurizedfluids 333 j to be dispensed from the fluid-dispense element 336 j withsufficient force to debride tissue. In an embodiment, the pressurizingdevice 342 can create a pulsatile pressurized force, with intermittentpressurized delivery of the pressurized fluids 333 j. In an embodiment,the pressurized fluids 333 j can be stored in the fluid reservoir 335 eat a pressure that is greater than the pressure in the body region. Thepressurized fluids 333 j stored in the fluid reservoir 335 e can includeat least one of one or more biocompatible fluids (e.g., saline, water,Ringer's solution), one or more antiseptics (e.g., superoxidized water,hydrogen peroxide), one or more debriding agents (e.g., debriding agents333 i of FIG. 3I), or any of the agents disclosed herein.

FIG. 3K illustrates an embodiment of a robotic debridement apparatus 300k that includes at least one debriding tool 306 k that is associated(e.g., coupled) to the robotic debridement apparatus 300 k. For example,the debriding tool 306 k includes at least one body 344 k that isattached to the housing 302 k by at least one tether 346 k (e.g., atleast one cable). As such, the only portion of the debriding tool 306 kthat is positioned in or on the housing 302 k is the portion of thetether 346 k that is attached to the housing 302 k.

The body 344 k can be configured to debride tissue when the body 344 kmoves (e.g., travels or vibrates) relative to the body region. Forexample, the body 344 k can be configured to be dragged behind thehousing 302 f when a locomotive mechanism 304 k relocates the housing302 k. In an embodiment, the body 344 k can be configured to moveindependently of the housing 302 k. For example, the body 344 k caninclude at least one locomotive mechanism 304 k′ positioned therein orthereon that moves the body 344 k. The locomotive mechanism 304 k′positioned in or on the body 344 k can be similar to or the same as anyof the locomotive mechanisms disclosed herein (e.g., vibratory mechanismin FIG. 3L). In an embodiment, the at least one locomotive mechanism 304k′ can be controllably activated, thereby controllably moving the body344 k responsive to direction from a controller (e.g., controller 112 ofFIG. 1).

The body 344 k can include at least one debriding tool 306 k (e.g., anyof the debriding tools disclosed herein). For example, in theillustrated embodiment, the body 344 k includes a plurality ofprotrusions 330 k (e.g., array of protrusions) positioned on an outersurface 348 k of the body 344 k.

FIG. 3L illustrates an embodiment of a robotic debridement apparatus 300l that is similar to the robotic debridement apparatus 300 k (FIG. 3K).For example, the robotic debridement apparatus 300 l can include atleast one body 344 l that is coupled to a housing 302 l using a tether346 l. The body 344 l can include at least one debriding tool 306 l. Thedebriding tool 306 l can include at least one abrasive material 332 lcoating at least a portion of an outer surface 348 l of the body 344 l.

In an embodiment, the body 344 l can include any of the debriding toolsdisclosed herein. In an embodiment, the housing 302 l can also includeat least a second debriding tool positioned in or on the housing 302 l(not shown).

FIG. 3M illustrates a robotic debridement apparatus 300 m that includesa debriding tool 306 m (e.g., any of the debriding tools disclosedherein). For example, the debriding tool 306 m can be similar to thedebriding tool 306 a (FIG. 3A). In an embodiment, at least a portion ofthe debriding tool 306 m can be movable relative to the housing 302 m.For example, the debriding tool 306 m can be configured to at least oneof be displaced relative to the housing 302 m (e.g., one or more offorward/backward, left/right, or up/down), rotate (e.g., spin relativeto or rotate around a portion of the housing 302 m), oscillate, tilt,vibrate, or move linearly relative to an axis (e.g., along thelongitudinal axis of the housing 302 m). As such, the debriding tool 306m can at least one of shave, scrape, abrade, shred, or otherwisephysically debride tissue from the body region.

In an embodiment, the robotic debridement apparatus 300 m can includeone or more actuators 350 m positioned in or on the housing 302 m. Theactuators 350 m can be operably coupled to at least a portion of themovable debriding tool 306 m such that activating the actuators 350 mmoves at least a portion of the debriding tool 306 m relative to thehousing 302 m. The actuators 350 m can include any of the actuatorsdisclosed herein or any other suitable actuator. For example, theactuators 350 m can include a vibratory mechanism (e.g., piezoelectricmaterial) or a motor. For example, the actuators 350 m can include anactuator including at least one three-dimensional printed micropillarstructure, such as a vibrating motor or a brush motor. In an embodiment,the actuators 350 m can be controllably actuated responsive to directionfrom a controller (e.g., controller 112 of FIG. 1).

FIG. 3N illustrates a robotic debridement apparatus 300 n that includesat least one debriding tool 306 n (e.g., any of the debriding toolsdisclosed herein). For example, the debriding tool 306 n can be similarto the debriding tool 306 f (FIG. 3F). In an embodiment, at least aportion of the debriding tool 306 n can be movable relative to thehousing 302 n. For example, at least a portion of the debriding tool 306n can be configured to be displaced relative to the housing 302 n in anyof the manners disclosed herein, such as rotation as illustrated. In anembodiment, at least a portion of the debriding tool 306 n can becoupled to one or more actuators 350 n configured to move at least aportion of the debriding tool 306 n relative to the housing 302 n.

FIG. 3O illustrates a robotic debridement apparatus 300 o that includesat least one debriding tool 306 o (e.g., any of the debriding toolsdisclosed herein). For example, the debriding tool 306 o can be similarto the debriding tool 306 d (FIG. 3D). In an embodiment, at least aportion of the debriding tool 306 o can be movable relative to thehousing 302 o. For example, at least a portion of the debriding tool 306o can be configured to be displaced relative to the housing 302 o in anyof the manners disclosed herein. In an embodiment, at least a portion ofthe debriding tool 306 o can be coupled to one or more actuators 350 oconfigured to move at least a portion of the debriding tool 306 orelative to the housing 302 o.

G. Debris Disposal Devices

FIGS. 4A-4J are schematic illustrations of robotic debridementapparatuses including different debriding tools, according to differentembodiments. Except as otherwise described herein, the roboticdebridement apparatuses shown in FIGS. 3A-3E and their materials,components, or elements can be similar to or the same as the roboticdebridement apparatuses 100, 200 a-g, 300 a-o (FIGS. 1-3O) and theirrespective materials, components, or elements. For example, the roboticdebridement apparatuses shown in FIGS. 4A-4J can include at least one ofa housing, at least one locomotive mechanism, at least one debridingtool, at least one therapeutic device, one or more sensors, acontroller, or a power source. Any of the debris disposal devicesillustrated in FIGS. 4A-4J can be used in any of the robotic debridementapparatuses embodiments disclosed herein.

The debris disposal devices disclosed herein are configured to capture(e.g., acquire, sequester, secure, dispose of, remove, absorb, adsorb,or adhere thereto) at least one substance from the wound. The at leastone substance can include debrided tissue (e.g., at least one targettissue). The debrided tissue can include tissue that is debrided usingat least one robotic debridement apparatus including at least onedebriding tool, a debriding tool used by a user (e.g., a physician, anurse, other healthcare provider, the subject, a computer, or a thirdparty, etc.), at least one debriding agent, maggots, or any otherdebriding tool. The debrided tissue can include nonviable tissue orviable tissue, depending on the goal and as determined by one or morefactors described herein. In an embodiment, the robotic debridementapparatus selectively debrides nonviable tissue, by the debriding toolsdisclosed herein, and preserves as much healthy, viable tissue aspossible. The substances can also include at least one foreign materialor foreign matter. The foreign material or foreign matter can includedebris present in the wound, one or more agents dispensed from at leastone robotic debridement apparatus, one or more agents dispensed from adressing, a fluid used to clean or irrigate the body region, a portionof at least one robotic debridement apparatus that has worn away, oranother material introduced into the body region during the debridementprocess. The substance can also include one or more fluids. The fluidcan include serous fluid, fibrinous fluid, serosanguinous fluid,sanguinous fluid, seropurulent fluid, purulent fluid, haemopurulentfluid, haemorrhagic fluid, blood, exudate, certain tissue, degradedtissue, or another fluid present within the body region. The substancecan include at least one infectious material (e.g., bacteria, bacterialmatter, fungus, fungal matter, yeast, yeast matter, virus, viral matter,infected cell or matter therefrom, etc.).

FIG. 4A illustrates an embodiment of a robotic debridement apparatus 400a that includes at least one debris disposal device 452 a configured toremove at least one substance 453 from the body region. For example, thedebris reservoir 441 a can be configured to capture a fluid or solidthat has rebounded from the body region (e.g., a splash or an aerosol).

In an embodiment, the debris disposal device 452 a includes a debrisreservoir 441 a positioned in or on the housing 402 a. The debrisreservoir 441 a can be configured to directly access the body regionthrough an opening 403 a defined by the housing 402 a. The debrisreservoir 441 a can include an internal surface 455 a. The debrisreservoir 441 a can include at least one capture material 445 that ispositioned on (e.g., coats) at least a portion of the internal surface455 a. The capture material 445 can be configured to have the substance453 attached thereto when the substance 453 enters the debris reservoir441 a, thereby preventing the substance 453 from exiting the debrisreservoir 441 a. For example, the capture material 445 can include anadhesive, an adsorbent, or an absorbent. Examples of adhesives,adsorbents, and absorbents are disclosed elsewhere herein.

In an embodiment, the debris disposal device 452 a and its debrisreservoir 441 a are configured to capture the substance 453 as therobotic debridement apparatus 400 a travels across a surface. Forexample, debris disposal device 452 a can include a substance motivator457 a (e.g., scoop) at or near the opening 403 that is configured togather (e.g., scoop up) the substance 453 into the debris reservoir 441a. In an embodiment, the substance motivator 457 a can be coupled to anactuator (not shown) that is configured to move the substance motivator457 a relative to the housing 402 a. For example, the actuator can beconfigured to move the substance motivator 457 a between a closed andopen position.

FIG. 4B illustrates an embodiment of a robotic debridement apparatus 400b that includes at least one debris disposal device 452 b configured toremove at least one substance 453 from the body region. In anembodiment, the debris disposal device 452 b can include a debrisreservoir 441 b positioned in or on the housing 402 b. The debrisreservoir 441 b can be at least partially defined by an internal surface455 b and include an opening 403 b at least partially defined by thehousing 402 b.

In an embodiment, the debris reservoir 441 b can include at least onedegrading agent 451 therein. The degrading agent 451 can be formulatedto degrade or destroy at least one substance 453 captured from the bodyregion. For example, the degrading agent 451 can include at least one ofa liquid, gas, solid, powder, gel, colloid, other compound, orcombinations thereof. For example, the degrading agent 451 can include ahydrogel coating at least a portion of the internal surface 455 b of thedebris reservoir 441 b. For example, the degrading agent 451 can includea liquid (not shown) stored in the debris reservoir 441 b. In anembodiment, the degrading agent 451 includes a lytic, an autolytic, aproteolytic, an enzymatic agent, or any of the debriding agentsdescribed herein. In an embodiment, the degrading agent 451 includes anonspecific degrading agent, such as an acid, an alkaline, or anoxidase. In an embodiment, the degrading agent 451 includes anantimicrobial. In an embodiment, the debris reservoir 441 b or degradingagent 451 includes a mechanistic aspect configured to aid in degradingthe substance 453. For example, the debris reservoir 441 b can include avibrating mechanism, a grinding mechanism, or the like.

In an embodiment, the debris disposal device 452 b includes at least onesubstance motivator for moving the substance into the debris reservoir.For example, the substance motivator can include at least one of a firstsubstance motivator 457 b, a second substance motivator 457 b′, or athird substance motivator 457 b″. In an embodiment, the first substancemotivator 457 b can be substantially similar to the substance motivator457 a (FIG. 4A). In an embodiment, the second substance motivator 457 b′can include a device (e.g., a shaped blade or a brush) that steers orpushes the substance 453 into the opening 403 b. The second substancemotivator 457 b′ can be positioned at or near the opening 403 b. In anembodiment, the third substance motivator 457 b″ can include a device(e.g., bristles) that steers or moves the substance 453 through theopening 403 and into the debris reservoir 441 b. For example, the thirdsubstance motivator 457 b″ can be positioned at, near, or in the opening403 b. In an embodiment, at least one of the first, second, or thirdsubstance motivators 457 b, 457 b′, 457 b″ can include at least onethree-dimensional printed micropillar structure.

In an embodiment, the debris disposal device 452 b can include one ormore actuators (not shown) that are operably coupled to at least one ofthe first, second, or third substance motivators 457 b, 457 b′, 457 b″.The actuators can be configured to move at least one of the first,second, or third substance motivators 457 b, 457 b′, 457 b″ tofacilitate steering the substance 453 to and through the opening 403.For example, at least one of the first, second, or third substancemotivators 457 b, 457 b′, 457 b″ can be moved under control of thecontroller (e.g., controller 112 of FIG. 1). In an embodiment, at leastone of the first, second, or third substance motivators 457 b, 457 b′,457 b″ is not operably coupled to the actuators and instead passivelysteers the substance 453 to or through the opening 403 b (e.g., at leastone the first, second, or third substance motivators 457 b, 457 b′, 457b″ is substantially in communication with the locomotive mechanism andmoves with the self-propelling force).

FIG. 4C illustrates an embodiment of a robotic debridement apparatus 400c that includes at least one debris disposal device 452 c configured toremove at least one substance 453 from the body region. In anembodiment, the debris disposal device 452 c includes a suction device454 positioned in or on a housing 402 c of the robotic debridementapparatus 400 c. The suction device 454 can be configured to remove orcapture the substance 453 from the body region. For example, the suctiondevice 454 can include a pump, a compressor, a device having a lowerpressure than the body region (e.g., the debris reservoir 441 c caninitially exhibit a lower pressure than the body region). In anembodiment, the suction device 454 can controllably remove the substance453 from the body region responsive to direction from a controller 412c.

In an embodiment, the suction device 454 can be coupled (e.g., fluidlycoupled) to a debris reservoir 441 c positioned in or on the housing 402c. The suction device 454 or the reservoir 441 c can be coupled (e.g.,fluidly coupled) to the body region via at least one conduit 438 cpositioned in or on the housing 402 c. For example, the conduit 438 ccan extend from the reservoir 441 c to at least one outer surface 416 cof the housing 402 c or can further extend outwardly from the outersurface 416 c of the housing 402 c into the body region. The debrisreservoir 441 c can be configured to store the substance 453 from thebody region that is captured therefrom by the suction device 454.

In an embodiment the debris reservoir 441 c includes an energy-emittingdevice 434 configured to deliver energy 433 c to the substances 453 heldin the debris reservoir 441 c. The energy 433 c can be configured todegrade or destroy a tissue, cell, or microbe that is a component of thesubstance 453. For example, the energy-emitting device 434 can beconfigured to emit at least one of acoustic energy, thermal energy,electrical energy, or electromagnetic energy. For instance, theenergy-emitting device 434 can be configured to emit an ultravioletlight, infrared light, or other light. For instance, the energy-emittingdevice 434 can be configured to emit ultrasound energy or microwaveenergy.

FIG. 4D illustrates an embodiment of a robotic debridement apparatus 400d that includes at least one debris disposal device 452 d having atleast one adhesive material 456 configured and composed such that atleast one substance 453 from the body region attaches thereto. Forexample, the robotic debridement apparatus 400 d includes a housing 402d having at least one outer surface 416 d. In an embodiment, theadhesive material 456 can be positioned in or on a housing 402 d of therobotic debridement apparatus 400 d such that the adhesive material 456is exposed to the body region. For example, the adhesive material 456can be positioned on (e.g., coat) at least a portion of the outersurface 416 d.

In an embodiment, the adhesive material 456 can include any suitableadhesive. For example, the adhesive material 456 can include at leastone of a drying adhesive, a pressure-sensitive adhesive, a contactadhesive, a hot melt adhesive (e.g., the robotic debridement apparatus400 d includes a heating element that heats the adhesive material 456),a reactive hot melt adhesive, a multi-part adhesive, a one-partadhesive, a natural adhesive, a synthetic adhesive, or another suitableadhesive. In an embodiment, the adhesive material 456 can include atleast one of a glue, a cement, a mucilage, a liquid, a film, pellets, agel, or a paste. In an embodiment, the adhesive material 456 can includeat least one of silicon, an amine, or an acrylate polymer.

In an embodiment, the adhesive material 456 can include an adhesive thatis directly applied to the robotic debridement apparatus 400 d (e.g.,directly applied to the outer surface 416 d). In an embodiment, theadhesive material 456 can include an adhesive that is applied to asubstrate (e.g., a flexible, semi-rigid, or rigid substrate) and thesubstrate is attached to a portion of the robotic debridement apparatus400 d.

In an embodiment, the adhesive material 456 is configured to notsubstantially restrict movement of the robotic debridement apparatus 400d within the body region. For example, the adhesive material 456 caninclude an adhesive that does not attach to or does not substantiallyattach to tissue in the body region. In an embodiment, the adhesivematerial 456 can include an adhesive that forms a weak attachment to thebody region that is easily broken by the locomotive force generated byat least one locomotive mechanism 404 d of the robotic debridementapparatus 400 d. In an embodiment, the adhesive material 456 ispositioned on a portion of the robotic debridement apparatus 400 d thatdoes not normally contact a fixed surface of the body region. Forexample, the adhesive may be positioned in or on the housing 402 d insuch a manner as to capture the substance 453 as the substance 453 isdislodged from the body region (e.g., by a blade or fluid spray).

FIG. 4E illustrates an embodiment of a robotic debridement apparatus 400e that includes at least one debris disposal device 452 e having atleast one adhesive material 456 configured and composed such that atleast one substance 453 from the body region attaches thereto. Therobotic debridement apparatus 400 e can include at least one structure431 e extending from the housing 402 e or an outer surface 416 e of thehousing 402 e. In an embodiment, the structure 431 e can be athree-dimensional structure having a substantially planar surface,lenticular surface, or rounded surface at least partially coated withthe adhesive material 456. The adhesive material 456 can be positionedon (e.g., coat) at least a portion of the structure 431 e. In anembodiment, the adhesive material 456 can be positioned on (e.g., coat)at least a portion of the locomotive mechanism 404 e (e.g., at least oneof the impelling mechanism 405 e).

FIG. 4F illustrates an embodiment of a robotic debridement apparatus 400f that includes at least one debris disposal device 452 f having atleast one absorbent material 458 configured and composed to captureand/or sequester at least one substance 453 from the body region. Theabsorbent material 458 is positioned in or on a housing 402 f of therobotic debridement apparatus 400 f such that the absorbent materials458 is exposed to the at least one substance 453 f of the body region.For example, the absorbent material 458 can be at least partiallypositioned on (e.g., coat) at least one outer surface 416 f of thehousing 402 f, or within the housing 402 f (e.g., within debrisreservoir 441 a-c of FIGS. 4A-4C). In an embodiment, the absorbentmaterial 458 is positioned in a portion of the robotic debridementapparatus 400 f that does not normally contact a fixed surface of thebody region. For example, the absorbent may be positioned in the housing402 f in such a manner as to capture the substance 453 as it isdislodged from the body region (e.g., by a blade or fluid spray).

In an embodiment, the absorbent material 458 can include a wickingmaterial, such as a porous material, a woven fabric, etc. In anembodiment, the absorbent material 458 can include a material configuredto attach (e.g., bond), absorb, or adsorb at least one substance 453thereto. For example, the absorbent material 458 can include a materialthat is an adsorbent. For example, the absorbent material 458 caninclude at least one of one or more gel compounds, one or moreoxygen-containing compounds (e.g., silica gel, zeolite), one or morecarbon-based compounds (e.g., activated carbon, graphite), one or moreporous polymer-based compounds, activated alumina, calcium sulfate,calcium oxide, clay, or another suitable material. In an embodiment, theabsorbent material 458 can include a hygroscopic material (e.g.,quartz).

In an embodiment, the debris disposal device 452 f can include a suctiondevice (e.g., the suction device 454 of FIG. 4C) coupled to theabsorbent material 458. For example, the suction device can pull or drawthe substance 453 into or through the absorbent material 458. As such,the suction device can increase a rate at which the absorbent material458 absorbs or adsorbs the substance 453 and can increase the amount ofthe substance 453 absorbed or adsorbed by the absorbent material 458. Inan embodiment, the suction device can controllably pull the at least onesubstance 453 into or through the absorbent material 358 responsive todirection from a controller (e.g., controller 112 of FIG. 1).

FIG. 4G illustrates an embodiment of a robotic debridement apparatus 400g that includes at least one debris disposal device 452 g having atleast one absorbent material 458 configured and composed such that atleast one substance 453 from the body region attaches thereto. Therobotic debridement apparatus 400 g can include at least one structure431 g extending from the housing 402 g or an outer surface 416 g of thehousing 402 g. In an embodiment, the structure 431 g can be athree-dimensional structure having a substantially planar surface,lenticular surface, or rounded surface at least partially coated withthe absorbent material 458. The absorbent material 458 can be positionedon (e.g., coat) at least a portion of the structure 431 g. In anembodiment, the absorbent material 458 can be positioned on (e.g., coat)at least a portion of the locomotive mechanism 404 g (e.g., at least aportion of an impelling mechanism 405 g).

FIG. 4H illustrates an embodiment of a robotic debridement apparatus 400h that includes at least one debris disposal device 452 h positioned inor on a housing 402 h of the robotic debridement apparatus 400 h. In theillustrated embodiment, the debris disposal device 452 h can beconfigured to dispense a pressurized fluid 433 h into or onto the bodyregion at a pressure sufficient to move at least one substance 453 froma first location to a second location. For example, in the illustratedembodiment, the fluid-dispense element 436 is configured to dispensepressurized fluids 433 h to move or direct the substance 453 into thedebris reservoir 441 h. For example, the fluid-dispense element 436 canbe configured to dispense pressurized fluids 433 h to move the substance453 toward a substance motivator (e.g., first, second, or thirdsubstance motivators 457 b. 457 b′, 457 b″ of FIG. 4B). For example, thepressurized fluid 433 h can include air, water, saline, antiseptic,irrigation fluid, or other suitable fluid.

In an embodiment, the debris disposal device 452 h can include at leastone fluid reservoir 435 positioned in or on the housing 402 h configuredto store one or more fluids therein (e.g., the pressurize fluids 433 hor the fluids that become the pressurized fluids 433 h). The one or morefluids can include any of the fluids disclosed herein. The fluidreservoir 435 can be fluidly coupled to at least one fluid-dispenseelement 436 positioned in or on the housing 402 h. In an embodiment, thefluid-dispense element 436 can be coupled to the fluid reservoir 435 viaa conduit 438 h, directly coupled to the fluid reservoir 435, orintegrally formed with the fluid reservoir 435. The fluid-dispenseelement 436 can include a fluid-dispense aperture 440 configured todispense the pressurized fluids 433 h. The at least one dispenseaperture 440 can form part of a sprayer, a slit nozzle, etc. The debrisdisposal device 452 d can further include a pressurizing device 442 thatis fluidly coupled to fluid reservoir 435 and the fluid-dispense element436. The pressurizing device 442 can be substantially similar to thepressurizing device 342 (FIG. 3J). For example, the pressurizing device442 can include a pump. In an embodiment, the fluid-dispense element 436or the pressurizing device 442 can dispense the pressurized fluids 433 htherefrom responsive to direction from a controller 412 h.

FIG. 4I illustrates an embodiment of a robotic debridement apparatus 400i that includes at least one debris disposal device 452 i. The debrisdisposal device 452 i includes at least one repositional substrate 459 ihaving a capture material 445 positioned (e.g., coated) thereon. Therepositional substrate 459 i can be configured to capture or sequesterat least one substance 453 from the body region to the repositionalsubstrate 459 i.

In an embodiment, the capture material 445 can include an adhesivematerial (e.g., adhesive material 456 of FIGS. 4D-4E) or absorbentmaterial (e.g., absorbent material 458 of FIGS. 4F-4G). In anembodiment, the capture material 445 can include a binding element(e.g., a specific binding element such as an antibody, antibodyfragment, a ligand, etc.).

In an embodiment, the repositionable substrate 459 i can be a flexible,semi-rigid, or rigid substrate. The repositional substrate 459 i can beattached to one or more structures 431 i of the robotic debridementapparatus 400 e in such a manner as to be storable and repositionable.In an embodiment, the repositionable substrate 459 i is repositionableso that at least a portion of the repositionable substrate 459 i isdisposed in, above, or below an opening 403 i defined by the housing 402i (e.g., exposed to the body region).

In an embodiment, the structures 431 i are rotatable structures (e.g.,rolling drums or pins). For example, the repositional substrate 459 ican include a long, thin strip of paper, cloth, plastic, mesh, gel, ormetal attached or mounted at one or more ends the rotatable structures.For example, the repositional substrate 459 i can be held between asupply rotatable structure or a take-up rotatable structure. As such,the rotatable structures can advance the repositional substrate 459 i toexpose an unused portion of the repositional substrate 459 i from thesupply rotatable structure and collect a used portion of therepositional substrate 459 i at the take-up rotatable structure. In anembodiment, at least the take-up rotatable structure can be position ina debris reservoir 441 i disposed in or on the housing 402 i.

In an embodiment, at least one of the structures 431 i can becontrollably rotated by one or more actuators 450 i (e.g., motor ormicromotor). The actuators 450 i can rotate the at least one structure431 i responsive to direction from a controller 412 i. The actuators 450i can be indirectly coupled to (e.g., via a belt), directly attached to,or incorporated into the at least one structure 431 i. In an embodiment,at least one of the structures 431 i can rotate passively. For example,the at least one structure 431 i can be substantially in communicationwith the locomotive mechanism 404 i and can advance with theself-propelling force.

In an embodiment, the repositionable substrate 459 i is at leastpartially positioned within a debris reservoir 441 i. For example, therepositionable substrate 459 i can capture a substance 453 and deliverthe substance 453 for storage in debris reservoir 441 i. In anembodiment, the debris reservoir 441 i can include energy-emittingdevice (not shown). For example, the energy-emitting device can deliverenergy (e.g., electromagnetic energy) to the substance 453 captured bythe repositional substrate 459 i so as to degrade, destroy, or kill thesubstance 453. In an embodiment, the debris reservoir 441 i can includea capture material (e.g., capture material 445 of FIG. 4A) or degradingagent (e.g., degrading agent 451 in FIG. 4B) disposed therein that isnot attached to the repositional substrate 459 i.

FIG. 4J illustrates an embodiment of a robotic debridement apparatus 400j that includes at least one debris disposal device 452 j. The debrisdisposal device 452 i includes at least one repositional substrate 459 jthat is at least partially positioned within a debris reservoir 441 jand includes a capture material 445 configured to capture or sequesterat least one substance 453. In an embodiment, the repositional substrate459 j can be a disc (e.g., substantially planar or curved disc). Thedebris disposal device 452 j can also include at least one structure 431i having the repositional substrate 459 j coupled thereto. In anembodiment, the structure 431 j can be operably coupled to one or moreactuators 450 j. The actuators 450 j can be configured to rotate,vibrate, or otherwise move the structure 431 j, thereby moving therepositional substrate 459 j. For example, the actuators 450 j can movethe repositional substrate 459 j responsive to direction from thecontroller 412 j. In an embodiment, the structure 431 i can passivelyrotate the repositional substrate 459 j. For example, the structure 431j can be substantially in communication with the locomotive mechanism404 j and can advance with the self-propelling force.

In an embodiment, a portion of the repositional substrate 459 j is atleast partially disposed in or above an opening 403 j defined by thehousing 402 j. For example, rotating the repositional substrate 459 jcan cause an unexposed portion of the rotational substrate 459 j to beexposed (e.g., positioned in or above the opening 403 j) and an exposedportion of the rotational substrate 459 j to be unexposed (e.g.,positioned behind a portion of the housing 402 j).

H. Therapeutic Devices

FIGS. 5A-5B are schematic illustrations of robotic debridementapparatuses including different therapeutic devices, according todifferent embodiments. Each of the different therapeutic devices shownin FIGS. 5A-5B are configured to provide a therapeutic effect to thebody region. Except as otherwise described herein, the roboticdebridement apparatuses shown in FIGS. 5A-5B and their materials,components, or elements can be similar to or the same as the roboticdebridement apparatuses 100, 200 a-g, 300 a-o, 400 a-j (FIGS. 1-4J) andtheir respective materials, components, or elements. For example, therobotic debridement apparatuses shown in FIGS. 5A-5B can include atleast one of a housing, at least one locomotive mechanism, at least onedebriding tool, at least one debris disposal device, one or moresensors, a controller, or a power source. Any of the therapeutic devicesillustrated in FIGS. 5A-5B can be used in any of the robotic debridementapparatuses embodiments disclosed herein.

FIG. 5A illustrates an embodiment of a robotic debridement apparatus 500a that includes at least one therapeutic device 562 a. In theillustrated embodiment, the therapeutic device 562 a (e.g., atherapeutic agent-dispensing device) is configured to dispense one ormore therapeutic agents 533 a into or onto a body region. For example,the therapeutic device 562 a can include at least one therapeutic agentreservoir 535 positioned in or on the housing 502 a. The therapeuticagent reservoir 535 can be configured to store one or more therapeuticagents 533 a therein. The therapeutic agent reservoir 535 can be fluidlycoupled to at least one therapeutic-dispense element 536, for example,via conduit 538. In an embodiment, the therapeutic-dispense element 536can be directly coupled to or integrally formed with the therapeuticagent reservoir 535. The therapeutic-dispense element 536 can bepositioned in or on the housing 502 a and include at least onetherapeutic-dispense aperture 540 configured to dispense the therapeuticagents 533 a. The at least one therapeutic-dispense aperture 540 canform part of a sprayer, a slit nozzle, etc. In an embodiment, thetherapeutic device 562 a is configured to dispense one or moretherapeutic agents 533 a in response to direction from a controller 512a.

In an embodiment, the therapeutic-dispense element 536 includes abrush-like structure in conjunction with or instead of atherapeutic-dispense aperture 540. The one or more therapeutic agents533 a can be dispersed throughout the brush-like structure. For example,the conduit 538 can disperse the therapeutic agents 533 a throughout thebrush-like structure. The brush-like structure is configured to paintthe therapeutic agents 533 a onto the body region as the brush-likestructure moves relative to the body region (e.g., the brush-likestructure moves relative to the housing 502 a or the robotic debridementapparatus 500 a moves relative to the body region). In an embodiment,the brush-like structure includes at least one three-dimensional printedmicropillar structure.

The one or more therapeutic agents 533 a are configured to provide atherapeutic effect to the body region. The therapeutic agents 533 a caninclude a suitable gas, liquid, or solid that can provide a therapeuticeffect to the body region. In an embodiment, the therapeutic agents 533a can include at least one of one or more medicaments, one or moreanaesthetics, one or more antibiotics, one or more antimicrobials, oneor more antiseptics (e.g., superoxidized water, oxidizing agents,hypochlorous acid, etc.), one or more healing agent, one or morecoagulants, one or more anti-coagulants, one or more anti-inflammatoryagents, one or more hemostatic agent, one or more hormones (e.g.,steroids, estrogens), one or more extracellular components (e.g.,elastin or glycosaminoglycan), or one or more cells. Examples ofantimicrobials include silver and silver compounds, iodine and iodineproducts, antimicrobial peptides (e.g., cathelicidins or defensins suchas lucifensin), or chlorhexidine. In an embodiment, the therapeuticagents 533 a can include an irrigation fluid. In an embodiment, thetherapeutic agents 533 a can include at least one of a natural healingagent or a synthetic healing agent. In an embodiment, the therapeuticagents 533 a can include at least one of a protein, a lipid, an oil, acarbohydrate, an emulsion, a gel, or nanoparticles. In an embodiment,the therapeutic agents 533 a can include at least one of one or moregrowth factors, one or more angiogenic factors, one or more cytokines(e.g., chemokines, interferons, interleukins, lymphokines, tumornecrosis factor. etc.), one or more vitamins, one or more minerals, oneor more microbes, one or more pharmaceuticals, silicone, zinc, nitricoxide, synthetic dermis, or a liquid bandage. Examples of growth factorsinclude at least one of interleukins, platelet derived growth factors,transforming growth factors, epidermal growth factors, fibroblast growthfactors, vascular endothelial growth factors, insulin-like growthfactors, or another suitable growth factors. Examples of vitamins andminerals that can be used as therapeutic agents 533 a include at leastone of vitamin A, vitamin C, vitamin D, magnesium, zinc, essential fattyacids, or other suitable vitamins or minerals. Examples of microbes thatcan be used as therapeutic agents 533 a include one or more probiotics,other bacterium, live microorganism cultures, cells for cell grafts,etc. Examples of cells that can be used for cell grafts include stemcells (e.g., from embryonic, bone marrow, liver, spleen, lymph node,peripheral blood sources, or the like), lymphocytes, myelocytes,megakaryocytes, epithelial cells, dermal cells, engineered tissue,biological skin substitute (e.g., apligraf), or other suitable cells. Inan embodiment, the therapeutic agents 533 a can include one or morecollagens, elastin, fibronectin, laminin, glycosaminoglycans,proteoglycans, hyaluronic acid, chondroitin sulfate, heparin sulfate,keratin sulfate, chitosan, gelatin, allantoin, urea, phenylacetic acid,phenylacetaldehyde, or calcium carbonate. In an embodiment, thetherapeutic agents 533 a can include one or more chemicals configured toincrease blood flow to the body region. In an embodiment, thetherapeutic agents 533 a can include a combination of any of thetherapeutics agents disclosed herein.

FIG. 5B illustrates an embodiment of a robotic debridement apparatus 500b that includes at least one therapeutic device 562 b including at leastone energy-emitting device 564 positioned in or on a housing 502 b ofthe robotic debridement apparatus 500 b. In an embodiment, theenergy-emitting device 564 can be configured to emit energy 533 bresponsive to direction from a controller 512 b.

The energy-emitting device 564 can be configured to emit energy 533 bthat is configured to at least one of disinfect or sterilize the bodyregion (e.g., disinfect or sterilize the body region of at least one ofone or more bacteria, one or more archaea, one or more protozoa, one ormore algae, one or more fungi, one or more viruses, or one or moreorganisms), increase a rate of healing (e.g., increase blood flow), orotherwise provide a therapeutic effect to the body region. For example,the energy-emitting device 564 can be configured to emit or absorbenergy 533 b, such as electromagnetic energy, acoustic energy,electrical energy, thermal energy, or any other suitable energy.

In an embodiment, the energy-emitting device 564 includes anelectromagnetic device. The electromagnetic device is configured to emitenergy 533 b as electromagnetic energy that irradiates at least aportion of the body region. For example, the emitted electromagneticenergy can exhibit a wavelength or wavelength range for disinfecting,sterilizing, healing (e.g., low-intensity laser irradiation (LILI) orphototherapy), promoting angiogenesis, or otherwise providing atherapeutic effect to the body region. For instance, exposure of woundsto the electromagnetic energy (e.g., in the blue spectrum or the redspectrum) can increase cell migration, viability, and proliferation. Inan embodiment, the electromagnetic device can be configured to emitenergy 533 b (e.g., ultraviolet light) to disinfect or sterilize thebody region.

In an embodiment, the electromagnetic device can include at least one ofone or more fluorescent light bulbs, one or more incandescent lightbulbs, one or more high-intensity discharge bulbs, one or moremercury-vapor light sources, one or more short wave ultraviolet lamps,one or more gas-discharge lamps, one or more LEDs, one or more lasers,or another type of electromagnetic source. In an embodiment, theenergy-emitting device 564 can emit electromagnetic energy at awavelength that stimulates healing of a tissue. For example, theelectromagnetic device can be configured to emit electromagnetic energyhaving a wavelength of about 10 nm to about 800 nm, such as about 400 nmto about 800 nm, about 380 nm to about 450 nm, about 315 nm to about 400nm, about 280 nm to about 315 nm, about 100 nm to about 280 nm, about300 nm to about 400 nm, about 10 nm to about 100 nm or about 200 nm toabout 300 nm. In an embodiment, the electromagnetic device can includeat least one quantum dot.

In an embodiment, the therapeutic device 562 b can further include oneor more photocatalytic particles (not shown) positioned on the housing502 d. The photocatalytic particles can include any particle thatexhibits biocidal activity when activated (e.g., irradiated) by theelectromagnetic energy emitted from the electromagnetic device. Forexample, the photocatalytic particles can include zinc oxide particlesor other suitable photocatalytic. In an embodiment, the photocatalyticparticles can include nanoparticles or other particles exhibiting arelatively high surface area.

In an embodiment, the energy-emitting device 564 includes an acousticenergy source. The acoustic energy source is configured to emit energy533 b that is acoustic energy. For example, the energy-emitting device564 is configured to emit sound waves (e.g., high intensity ultrasound)to promote wound healing. In an embodiment, the energy-emitting device564 can include at least one ultrasound transducer.

In an embodiment, the energy-emitting device 564 includes an electricalenergy source. The electrical energy source is configured to emit energy533 b that is electrical energy. For example, the electrical energysource can be configured to emit electrical energy configured todisinfect the body region, sterilize the body region, increase bloodflow to the body region, etc. In an embodiment, the electrical energysource can include at least two electrodes (not shown) that are exposedto and configured to disinfect or sterilize the body region (e.g.,electrochemical disinfection). The at least two electrodes can beconfigured to have an electrical potential therebetween. For example,the electrical potential between the electrodes can cause an electricalcurrent to pass between the electrodes, for example, through a fluidtherebetween (e.g., one or more agents, exudate, etc.). The electriccurrent can cause an electrochemical production of disinfecting orsterilization agents from the fluid.

In an embodiment, the energy-emitting device 564 includes a thermalenergy source. The thermal energy source is configured to emit energy533 b that is thermal energy. For example, the thermal energy source caninclude an electrical resistive heater, an infrared heater, or anothersuitable thermal energy source.

In an embodiment, the thermal energy source can be configured tostimulate a portion of the body region. For example, the thermal energysource can directly stimulate (e.g., contact) a portion of the bodyregion. For example, the thermal energy source can indirectly stimulatea portion of the body region by illuminating the body region or heatingone or more fluids that are dispensed from the robotic debridementapparatus 500 b (e.g., heat the fluids before, during, or after thefluids are dispensed from the robotic debridement apparatus 500 b).

In an embodiment, the thermal energy source can heat a portion of thebody region to a temperature sufficient to disinfect or sterilize theportion of the body region, such as at least about 70° C., at leastabout 80° C., at least about 90° C., at least about 100° C., at leastabout 120° C., or about 80° C. to about 95° C. In an embodiment, thethermal energy source can heat a portion of the body region to atemperature sufficient to facilitate healing (e.g., increase blood flow)of the portion of the body region, such as about ambient temperature toabout 70° C.

In an embodiment, the energy-emitting device 564 can be replaced with oroperate in tandem with an energy-absorbing device (not shown) Forexample, the energy-absorbing device can include a heat sink that isconfigured to reduce a temperature of a portion of the body region. Forexample, the heat sink can reduce the temperature of a portion of thebody region below ambient temperature to reduce inflammation of and painfrom the body region.

In an embodiment, the components, elements, or features of the roboticdebridement apparatuses 100, 200 a-g, 300 a-o, 400 a-j (FIGS. 1-4J) canbe modified to form a therapeutic device that provides a therapeuticeffect to the body region. For example, the locomotive mechanism 104(FIG. 1) can be used to agitate the body region thereby increasing bloodflow to the body region. In an embodiment, the energy-emitting device334 (FIG. 3H) can be configured to transmit high-frequency ultrasonicenergy or low-frequency ultrasonic energy to the body region which cancause a thermal effect that increases blood flow to the body region.

I. Marking Devices

FIG. 6 is a schematic illustration of a robotic debridement apparatus600 that includes at least one marking device 668, according to anembodiment. Except as otherwise described herein, the roboticdebridement apparatus 600 shown in FIG. 6 and its materials, components,or elements can be similar to or the same as the robotic debridementapparatuses 100, 200 a-g, 300 a-o, 400 a-j, 500 a-b (FIGS. 1-5B) andtheir respective materials, components, or elements. For example, therobotic debridement apparatus 600 shown in FIG. 6 includes a housing602, at least one locomotive mechanism 604, and at least one of at leastone debriding tool (e.g., any of the debriding tools 306 a-o of FIGS.3A-3O) or at least one debris disposal device (e.g., any of the debrisdisposal devices 452 a-j of FIGS. 4A-4J), and, optionally, at least onetherapeutic device (e.g., any of the therapeutic devices 562 a-b ofFIGS. 5A-5B), one or more sensors 608, a controller 612, or a powersource (not shown). The marking device 668 illustrated in FIG. 6 can beused in any of the robotic debridement apparatuses embodiments disclosedherein.

In the illustrated embodiment, the robotic debridement apparatus 600includes at least one device 660 positioned in or on the housing 602.The device 660 can include at least one debriding tool or at least onedebris disposal device.

The at least one marking device 668 is positioned in or on the housing602. The marking device 668 is configured to dispense one or moretaggants 633 into or onto the body region. In the illustratedembodiment, the marking device 668 includes at least one taggantreservoir 635 positioned in or on the housing 602 that is configured tostore the taggants 633 therein. The taggant reservoir 635 is fluidlycoupled to at least one taggant-dispense element 636 via, for example, aconduit 638. The taggant-dispense element 636 can be positioned in or onthe housing 602. In particular, the taggant-dispense element 636includes at least one taggant-dispense aperture 640 through which thetaggants 633 are dispensed into or onto the body region. The at leastone taggant-dispense aperture 640 can form part of a sprayer, a slitnozzle, etc. In an embodiment, the taggant-dispense element 636 isconfigured to dispense the taggants 633 responsive to direction from acontroller.

In an embodiment, the taggant-dispense element 636 includes a brush-likestructure in conjunction with or instead of a taggant-dispense aperture540. The one or more taggants 633 can be dispersed throughout thebrush-like structure. For example, the conduit 638 can disperse thetaggants 633 throughout the brush-like structure. The brush-likestructure is configured to paint the taggants 633 onto the body regionas the brush-like structure moves relative to the body region (e.g., thebrush-like structure moves relative to the housing 602 or the roboticdebridement apparatus 600 moves relative to the body region). In anembodiment, the brush-like structure includes at least onethree-dimensional printed micropillar structure.

The taggants 633 can include any chemical taggant, radiological taggant,or physical taggant that can be detected by any of the sensors disclosedherein. In an embodiment, the taggants 633 can be detected by an opticalsensor. For example, the taggants 633 can include one or morechromogens, one or more dyes, one or more luminescent (e.g.,chemiluminescent) materials, or one or more fluorogenic materials. In anembodiment, the taggants 633 can be more dense than the surroundingtissue. In an embodiment, the taggants 633 can be less dense than thesurrounding tissue. Taggants 633 that are more or less dense thansurrounding tissue can be detected by an acoustic sensor. In anembodiment, the taggants 633 can be detected by a chemical sensor. Forexample, the taggants 633 can include at least one chemical (e.g., atleast one acid, at least one base) that changes the pH of the bodyregion that can be detected by a pH meter. In an embodiment, thetaggants 633 can include at least one protein that can be detected by aprotein sensor. In an embodiment, the taggants 633 can include at leastone gas that can be detected by a gas sensor. In an embodiment, thetaggants 633 can change the electrical conductivity (e.g., a conductivetaggant or an insulating taggant) of the body region, which can bedetected by an electrical conductivity sensor. In an embodiment, thetaggants 633 can change the moisture level of the body region, which canbe detected by a moisture sensor. In an embodiment, the taggants 633 caninclude at least one biocompatible chemical or physical taggant. In anembodiment, the taggants 633 can include any suitable taggant or acombination of any of the taggants 633 disclosed herein.

In an embodiment, the taggants 633 include at least one component thatspecifically or nonspecifically directly reacts with a target (e.g., atissue, a cell, or a debris material). For example, the taggants 633 caninclude a dye (e.g., a lipophilic dye, a nucleic acid dye, a Schiffreagent) that reacts with a type of tissue component (e.g. an intactcell membrane) or debris (e.g., a microbial component, such as aglycoprotein, or intracellular components indicative of cell death). Forexample, the taggants 633 can include a chromogen that is detectable byan optical sensor. For example, the taggants 633 can be a live cellstain (e.g., Bismarck brown or Vibrant stain). In an embodiment, thetaggants 633 include at least one component that does not directly orindirectly react with tissue or debris. For example, the taggants 633can include a nonstaining colorant used to indicate a path.

In an embodiment, the taggants 633 includes at least one component thatrecognizes and binds to a target. In an embodiment, the taggant 633includes a conjugated compound having a recognition element and areporting tag. For example, the taggant 633 can include a recognitionelement (e.g., an antibody, an aptamer, a lectin, a natural bindingelement, or a synthetic binding element) that is able to specificallyrecognize and bind a specific target molecule (e.g., a specific celltype, a specific microbe, a specific protein, a specific peptide, aspecific oligosaccharide, a specific lipid, a specific nucleic acidsequence, etc.) or specific class (e.g., a protein, a lipid, acarbohydrate, a glycosaminoglycan, a nucleic acid, etc.). Therecognition molecule can be conjugated to a tag (e.g., a chromogen, afluorescent agent, a luminescent agent, a quantum dot, a radiolabel, amagnetic or paramagnetic tag, a volatile tag, a mass tag, a metallictag, an electroactive tag, an energy transfer tag (e.g., FRET or CRET),a two-step tag (e.g., avidin-biotin tag), or any other tag) that isdetectable by a sensor (e.g., sensors 608). In an example, the taggants633 can include a recognition element that recognizes and binds to HighMobility Group Box 1 protein, which is released from necrotic cells. Inan example, the taggants 633 can include a recognition element thatrecognizes and binds to a compound indicative of necrotic tissue, suchas a heat shock protein, cytochrome c, vimentin, lamin A, solublegalactose-binding lectin 7, or calreticulin. In an example, the taggants633 can include a recognition element that recognizes and binds to acompound (e.g., fibronectin or a growth factor) indicative of newlygrowing tissue (e.g., which should not be debrided, but which maybenefit from a therapeutic agent). In an example, the taggants 633 caninclude a recognition element that recognizes and binds to aninflammatory marker indicative of a wound. In an example, the taggants633 can include a recognition element that recognizes and binds to amicrobe such as a type of bacteria. In an example, the taggants 633 caninclude a recognition element that recognizes and binds to anothertaggant. For example, the taggants 633 can include a recognition element(e.g., secondary antibody or avidin complex) that carries a tag andrecognizes a previously dispensed taggant (e.g., a primary antibody orconjugated biotin molecule)

In an embodiment, one or more of the taggants 633 or sensors 608 candetect and quantify a target. For example, the target can be present inlow quantities in healing tissue but be present at high quantities innecrotic tissue.

In an embodiment, the taggants 633 include a labeled substrate for anenzyme. For example, the taggants 633 can include a substrate having alabel that is released upon cleavage by the target enzyme and isdetectable by a sensor 608. For example, the taggants 633 could includea labeled substrate able to be cleaved by a galactosidase or byglyceraldehyde phosphate dehydrogenase, both of which are associatedwith necrotic tissue. For example, the taggants 633 can include anelectron transfer molecule (e.g., FRET or CRET) that can be cleaved bythe enzyme. For example, the taggants 633 could include a labeledsubstrate carrying an electroactive label.

In an embodiment, the marking device 668 can be configured to dispensethe one or more taggants 633 (e.g., a chromogen) into or onto the bodyregion to indicate that the robotic debridement apparatus 600 hasperformed or has not performed a task. As such, the taggants 633 canindicate information (e.g., a task was performed) when detected (e.g.,by the sensors 608). For example, the marking device 668 can dispensethe taggants 633 when the locomotive mechanism 604 is activated (e.g.,as the robotic debridement apparatus 600 travels). For example,dispensing the taggant when the locomotive mechanism 604 is active canindicate the path that the robotic debridement apparatus 600 hastraveled within the body region. In an embodiment, the marking device668 can dispense the taggants 633 when the robotic debridement apparatus600 uses at least one debriding tool to debride tissue. In anembodiment, the marking device 668 can dispense the taggants 633 whenthe robotic debridement apparatus 600 uses at least one debris disposaldevice to capture at least one substance from the body region. In anembodiment, the marking device 668 can dispense the taggants 633 whenthe robotic debridement apparatus 600 uses at least one therapeuticdevice to provide a therapeutic effect to the body region. In anembodiment, the marking device 668 can be configured to dispense thetaggants 633 to indicate completion of a task performed by the roboticdebridement apparatus 600 or that the robotic debridement apparatus 600did not complete a task (e.g., when additional work is needed). Forexample, the marking device 668 can dispense the taggants 633 when therobotic debridement apparatus 600 finishes debriding tissue at aselected portion of the body region. In an embodiment, the markingdevice 668 can dispense a taggant when the robotic debridement apparatus600 is unable to completely debride tissue from a selected portion ofthe body region. In an embodiment, the marking device 668 can beconfigured to dispense the taggants 633 responsive to direction from acontroller.

In an embodiment, the marking device 668 can be configured to dispensethe one or more taggants 633 (e.g., a chromogen) into or onto the bodyregion to indicate a route taken by the robotic debridement apparatus600. For example, the taggants 633 can be dispensed (e.g., underdirection of a controller 612) when the locomotive mechanism 604 isactivated. For example, the taggants 633 can be dispensed (e.g., underdirection of a controller 612) when the device 660 (e.g., debridingtool) has been activated. For example, the taggants 633 can be dispensedto determine if a marker is present indicating an area that has beendebrided. In an embodiment the marking device 668 and the sensors 608 orother sensors (e.g., on one or more other robotic debridementapparatuses) are configured to act in concert to map at least one of aroute taken by the robotic debridement apparatus 600, an area of thebody region that has been debrided by the robotic debridement apparatus600, an area of the body region that is in need of being debrided by therobotic debridement apparatus 600, or some other information. In anembodiment, information regarding the mapping is stored in memory (e.g.,memory 122 of FIG. 1). In an embodiment, information regarding themapping is transmitted to an external device (e.g., external device 127of FIG. 1).

In an embodiment, the marking device 668 can dispense the taggants 633to detect and indicate information about the body region. For example,the marking device 668 can dispense one or more taggants 663 thatrecognize and bind to a specific target to detect the presence orabsence of the target and thereby indicate the presence or absence of atype of tissue (e.g., necrotic tissue, debrided tissue, granulatedtissue), a type of cell (e.g., a blood cell such as a neutrophil,lymphocyte, macrophage, or erythrocyte; a fibroblast; an epithelialcell, etc.), a type of microbe, or a type of debris (e.g., intracellularcomponents indicating cell death and/or debridement, microbialcomponents, etc.).

In an embodiment, each of the taggants 633 dispensed by the markingdevice 668 can indicate different information. For example, the markingdevice 668 can be configured to dispense at least one of a first,second, third, fourth, fifth, or sixth taggant. For example, the firsttaggant can be dispensed (e.g., under direction of a controller 612)when the locomotive mechanism 604 is activated, the second taggant canbe dispensed when the debriding tool (e.g., device 660) is used, thethird taggant can be dispensed when the debris disposal device (e.g.,device 660) is used, the fourth taggant can be dispensed when thetherapeutic device (not shown) is used, the fifth taggant can bedispensed when the robotic debridement apparatus 600 completes a certaintask, and the sixth taggant can be dispensed when the roboticdebridement apparatus 600 fails to complete a certain task.

In an embodiment, each of the taggants 633 dispensed by the markingdevice 668 can be dispensed to detect the presence, absence, or quantityof a specific target. For instance, each of the first, second, third,fourth, fifth, or sixth taggants can be dispensed to detect thepresence, absence, or quantity a different specific targets. In anembodiment, the taggants 633 dispensed by the marking device 668 can bedispensed simultaneously, concurrently, or in a sequence (e.g., underdirection of a controller 612). For example, the taggants 633 can bedispensed continuously, in a pulsed manner, or in a timed manner underdirection of a controller 612. In an embodiment, each of the first,second, third, fourth, fifth, and sixth taggants can be different fromeach other. The first, second, third, fourth, fifth, and sixth taggantscan be distinguished from each other by a single sensor 608 positionedin or on the housing 602, a plurality of sensors (not shown) positionedin or on the housing 602, or one or more sensors (not shown) spaced fromthe robotic debridement apparatus 600 (e.g., one or more sensorspositioned in or on a housing of another robotic debridement apparatus).

In an embodiment, any of the taggants 633 can be detected by a singlesensor 608 positioned in or on the housing 602, a plurality of sensors(not shown) positioned in or on the housing 602, or one or more sensors(not shown) spaced from the robotic debridement apparatus 600 (e.g., oneor more sensors positioned in or on a housing of another roboticdebridement apparatus or a dressing). In an embodiment, the markingdevice 668 and at least one sensor (e.g., one or more sensors 608 or oneor more sensors positioned in or on a housing of another roboticdebridement apparatus) are configured to function in concert.

In an embodiment, the marking device 668 can include or be coupled to atransceiver (not shown) configured to receive one or more signals fromat least one device (e.g., controller 612, external device 127 of FIG.1, or a different robotic debridement apparatus, or controller 1112 ofFIG. 11A). The signals can include information regarding the operationof the marking device 668 encoded therein. For example, the signals caninclude directions regarding at least one of when the taggants 633 areto be dispensed, which taggants 633 are to be dispensed, in what orderthe taggants 633 are to be dispensed, where the taggants 633 are to bedispensed, etc. In an embodiment, the transceiver can be configured totransmit one or more signals to at least one device (e.g., controller612, external device 127 of FIG. 1, a different robotic debridementapparatus, or controller 1112 of FIG. 11A). The signals can includeinformation regarding the operation of the marking device 668 encodedtherein. For example, the signals can include at least one of when thetaggants 633 were dispensed, where the taggants 633 were dispensed, whattaggants 633 were dispensed, etc. The signals can be used to determinewhat has been performed by the robotic debridement apparatus 600, whatfurther needs to be performed, where to send other robotic debridementapparatuses, etc.

J. Extraction Devices

FIG. 7 is a schematic illustration of a robotic debridement apparatus700 that includes at least one extraction device 770, according to anembodiment. Except as otherwise described herein, the roboticdebridement apparatus 700 shown in FIG. 7 and its materials, components,or elements can be similar to or the same as the robotic debridementapparatuses 100, 200 a-g, 300 a-o, 400 a-j, 500 a-b, 600 (FIGS. 1-6) andtheir respective materials, components, or elements. For example, therobotic debridement apparatus 700 shown in FIG. 7 can include one ormore of at least one locomotive mechanism 704, at least one debridingtool (not shown) or at least one debris disposal device (not shown), andoptionally, one or more sensors (not shown), a controller (not shown),or a power source (not shown). The extraction device 770 illustrated inFIG. 7 can be used in any of the robotic debridement apparatusembodiments disclosed herein.

In the illustrated embodiment, the robotic debridement apparatus 700includes a housing 702. The robotic debridement apparatus 700 alsoincludes at least one extraction device 770 positioned in or on thehousing 702. The extraction device 770 can include any device configuredto facilitate removal of the robotic debridement apparatus 700 to orfrom the body region. In an embodiment, the extraction device 770 isconfigured to facilitate removal of the robotic debridement apparatus700 using at least one retrieval device 772 that is not positioned in oron the housing 702. For example, the extraction and retrieval devices770, 772 are configured to be coupleable together.

In an embodiment, the extraction device 770 can include a magnet. Insuch an embodiment, the retrieval device 772 can include an oppositelypoled magnet or a magnetically attractable material. As such,positioning the retrieval device 772 proximate to the extraction device770 can cause the extraction device 770 to be coupled to the retrievaldevice 772. In an embodiment, the extraction device 770 can include amagnetically attractable material and the retrieval device 772 caninclude a magnet.

In an embodiment, the extraction device 770 can include at least oneprotruding element extending outwardly from an outer surface 716 of thehousing 702. The protruding element can include a fin, a loop, aprotruding element defining a hole therethrough, a protruding elementhaving a notch formed therein, or any other suitable protruding element.In such an embodiment, the retrieval device 772 can include a devicethat can connect to, hook, grasp, or otherwise couple to the protrudingelement. For example, the retrieval device 772 can include forcepsconfigured to grasp the protruding element, a hook configured to connectto the protruding element (e.g., a loop), a tether configured to be tiedto or otherwise attached to the protruding element, or another suitabledevice. In an embodiment, the extraction device 770 can include anattachment location (not shown). The attachment location does notprotrude from the outer surface 716 and is positioned on or integrallyformed with a part of the housing 702 that can support the entire weightof the robotic debridement apparatus 700. For example, the attachmentlocation can be on the outer surface 716 and exhibit at least one of asurface that can have an adhesive applied thereto, a recessed loop(e.g., configured to have a tether threaded therethrough), or a holedefined by the housing 702. In such an embodiment, the retrieval device772 can include a tether (e.g., glued to the surface, threaded throughthe recessed loop, or extending through the hole), a hook (e.g.,extending through the recessed loop or through the hole), or anothersuitable device.

In an embodiment, the retrieval device 772 can be integrally formed withor otherwise coupled to a device that is spaced or distinct from therobotic debridement apparatus 700. For example, the retrieval device 772can be coupled to a dressing (e.g., dressing 2178 of FIG. 21). As such,removing or attaching the dressing from the body region can also disposeor remove the robotic debridement apparatus 700 to or from the bodyregion, respectively. In an embodiment, the retrieval device 772 can bea tool (e.g., forceps) used by a user (e.g., the subject or a careprovider).

In an embodiment, the retrieval device 772 does not prevent the roboticdebridement apparatus 700 from including a freestanding housing 702. Forexample, the retrieval device 772 can be coupled to the roboticdebridement apparatus 700 (e.g., using a tether), while the roboticdebridement apparatus 700 is positioned within the body region. However,the retrieval device 772 does not actively support the roboticdebridement apparatus 700 while the robotic debridement apparatus 700operates in the body region.

K. Methods Employing a Robotic Debridement Apparatus

FIG. 8 is a flow diagram of a method 800 of using any of the roboticdebridement apparatuses disclosed herein, according to an embodiment. Inan embodiment, some of the acts of the method 800 can be split into aplurality of acts, some of the acts can be combined into a single act,and some acts can be omitted. Also, it is understood that additionalacts can be added to the method 800. Except as otherwise disclosedherein, the acts of method 800 can be used with any of the roboticdebridement apparatuses 100, 200 a-g, 300 a-0, 400 a-j, 500 a-b, 600,700, 1000 (FIGS. 1-7, 10) disclosed herein.

Act 805 includes contacting a body region of a subject with at least onerobotic debridement apparatus. For example, the at least one roboticdebridement apparatus can include a housing, at least one locomotivemechanism positioned in or on the housing, and at least one debridingtool associated with the housing. In an embodiment, the at least onerobotic debridement apparatus can include at least one debris disposaldevice or at least one therapeutic device. In an embodiment, the atleast one robotic debridement apparatus can include one or more sensors,a controller, a power source, at least one marking device, or at leastone extraction device.

In an embodiment, contacting a body region of a subject with at leastone robotic debridement apparatus can include manually placing, manuallypositioning, using at least one extraction device or retrieval device,or another suitable method of contacting the at least one roboticdebridement apparatus over the body region. In an embodiment, as will bediscussed in more detail later, contacting a body region of a subjectwith at least one robotic debridement apparatus reversibly attaching a(e.g., dressing 1178 of FIGS. 11A-11B) associated with the plurality ofrobotic debridement apparatuses to the body region.

Act 810 includes, via the at least one debriding tool, debriding atleast one target tissue from the body region. For example, the at leastone debriding tool can debride viable tissue or, more preferentially,nonviable tissue (e.g., with minimal debridement of healthy tissue). Inan embodiment, the debriding tool can debride tissue using any of themethods disclosed herein. For example, the debriding tool can debridetissue from the body region as a housing of the robotic debridementapparatus travels relative to the body region. For example, thedebriding tool can debride tissue by cutting, scraping, or abradingtissue using at least one blade (FIGS. 3A-3D). In an embodiment, thedebriding tool can debride tissue from the body region by moving anabrasive material against the tissue (FIGS. 3E-3G). For example, thedebriding tool can debride tissue from the body region by emittingenergy (e.g., acoustic energy, electromagnetic energy) into the bodyregion (FIG. 3H). For example, the debriding tool can debride tissuefrom the body region by dispensing one or more debriding agents orpressurized fluids into the body region (FIGS. 3I-3J). For example, thedebriding tool can debride tissue from the body region using a bodycoupled to and distinct from the housing (FIGS. 3K-3L). The body candebride tissue from the body region by being dragged behind the housingor using at least one locomotive mechanism positioned in or on the body.For example, the debriding tool can debride tissue from the body regionby moving relative to the housing (FIGS. 3M-3O).

In an embodiment, the at least one locomotive mechanism of the at leastone robotic debridement apparatus can be activated to relocate the atleast one robotic debridement apparatus relative to the body region. Inan embodiment, robotic debridement apparatus can travel by means of thelocomotive mechanism using any methods disclosed herein. For example,the locomotive mechanism can include at least one piezoelectricmaterial, and activating the piezoelectric material can move itsrespective robotic debridement apparatus (FIGS. 2E-2F), allowing therobotic debridement apparatus to travel across the body region. In anembodiment, the locomotive mechanism can include at least one impellingmechanism, and moving the impelling mechanism can move its respectiverobotic debridement apparatus (FIGS. 1, 2C-2D), allowing the roboticdebridement apparatus to travel across the body region. In anembodiment, the locomotive mechanism can include at least one shapememory alloy, and stimulating (e.g., heating) the shape memory alloy caninduce movement in its respective robotic debridement apparatus,allowing the robotic debridement apparatus to travel across the bodyregion. In an embodiment, the locomotive mechanism can include at leastone bellows, and expanding the at least one bellows can induce movementin its respective robotic debridement apparatus, allowing the roboticdebridement apparatus to travel across the body region (FIG. 2B). In anembodiment, activating the locomotive mechanism can cause at least onedebriding tool coupled to debride tissue from the wound.

In an embodiment, the at least one robotic debridement apparatus caninclude the at least one debris disposal device that can capture atleast one substance from the body region. In an embodiment, the debrisdisposal device can capture the at least one substance from the bodyregion using any of the methods disclosed herein. For example, thedebris disposal device can suction the at least one substance from thebody region (FIG. 4C). For example, the debris disposal device canadhere or attach thereto the at least one substance from the body region(FIGS. 4A, 4D-4E, 4I-4J). For example, the debris disposal device canabsorb or attach thereto the at least one substance from the body region(FIGS. 4A, 4F-4G, 4I-4J). For example, the debris disposal device candispense one or more pressurized fluids (FIG. 4H) into or onto the bodyregion.

In an embodiment, the at least one robotic debridement apparatus caninclude at least one therapeutic device that can provide a therapeuticeffect to the body region. In an embodiment, the therapeutic device canprovide the therapeutic effect to the body region using any of themethods disclosed herein. For example, the therapeutic device candispense one or more therapeutic agents into or onto the body region(FIG. 5A). For example, the therapeutic device can emit energy (e.g.,light, acoustic energy, electrical energy, or thermal energy) into oronto the body region (FIG. 5B).

In an embodiment, the at least one robotic debridement apparatus caninclude one or more sensors (e.g., sensors 108 of FIG. 1) that detectone or more characteristics of the body region. In an embodiment, thecharacteristics that the sensors detect can include a certain type oftissue (e.g., at least one target tissue). For example, the sensors candetect viable tissue, or nonviable tissue. For instance, the sensors candetect new healthy tissue, established healthy tissue, necrotic tissue,ischemic tissue, slough, fibrinous tissue, granulated tissue, or anothertype of tissue. In an embodiment, the characteristics that the sensorsdetect can include microbes, toxins, or inflammation. In an embodiment,the sensors can distinguish between two different types of tissue. Forexample, the sensors can distinguish between viable tissue and nonviabletissue, necrotic tissue and non-necrotic tissue, healthy tissue andinflamed tissue, etc. In an embodiment, the sensors can detect thepresence of one or more agents. For example, the sensors can detect oneor more debriding agents, one or more therapeutic agents, or one or moretaggants. In an embodiment, the sensors can distinguish between thedifferent agents. For example, the sensors can distinguish between afirst taggant and a second taggant. In an embodiment, the sensors candetect at least one of the presence, identification, functionality,status, or condition of robotic debridement apparatus positioned in thebody region. In an embodiment, the sensors can transmit one or moresensing signals responsive to detecting the one or more characteristics.For example, the sensors can transmit the sensing signals to acontroller (e.g., controller 112 of FIG. 1). In an embodiment, thesensors can detect the characteristics of the body region or transmitthe sensing signals responsive to direction from the controller.

In an embodiment, one or more components of the at least one roboticdebridement apparatus can operate under direction from a controller(e.g., controller 112 of FIG. 1, controller 1112 of FIGS. 11A-11B). Forexample, the locomotive mechanism can be controllably activated andcontrollably relocate the at least one robotic debridement apparatus,the debriding tool can controllably debride tissue, the debris disposaldevice can controllably capture the at least one substance, thetherapeutic device can controllably provide the therapeutic effect tothe body region, the power source can controllably supply power to oneor more components of the at least one respective robotic debridementapparatus, or the marking device can controllably dispense one or moretaggants into the body region responsive to direction from thecontroller. In an embodiment, the controller can control one or morecomponents of at least one of the robotic debridement apparatusesresponsive to one or more operational instructions stored on memory orreceived by a transceiver.

In an embodiment, the controller can control the operation of the one ormore components of the at least one robotic debridement apparatusresponsive to one or more sensing signals received from the sensors. Forexample, the controller can direct the locomotive mechanism tocontrollably relocate the at least one robotic debridement apparatus toa location having undebrided unhealthy tissue, a location having atleast one substance to be disposed, or a portion of the body regionrequiring a therapeutic effect responsive to the sensing signals. In anembodiment, the controller can direct the locomotive mechanism tocontrollably relocate the at least one robotic debridement apparatusaway from a location having healthy tissue, a location that waspreviously debrided, or another location where the robotic debridementapparatus is not needed. In an embodiment, the controller can direct thelocomotive mechanism to controllably move the at least one roboticdebridement apparatus to travel along a selected path. The selected pathcan be a path of least resistance, a path avoiding collisions with otherrobotic debridement apparatuses present in the body region, a pathhaving tissue to be debrided, a path having substances to be disposed, apath having portions of the body region requiring a therapeutic effect,or any other selected path. In another example, the controller candirect the debriding tool to debride tissue when the sensors detectundebrided unhealthy tissue, the debris disposal device to capture atleast one substance when the sensors detect the at least one substance,etc.

FIG. 9 is a flow diagram of a method 900 of using any of the roboticdebridement apparatuses disclosed herein, according to an embodiment. Insome embodiments, some of the acts of the method 900 can be split into aplurality of acts, some of the acts can be combined into a single act,and some acts can be omitted. Also, it is understood that additionalacts can be added to the method 900. Except as otherwise disclosedherein, the acts of method 900 can be used with any of the roboticdebridement apparatuses 100, 200 a-g, 300 a-o, 400 a-j, 500 a-b, 600,700, 1000 (FIGS. 1-7, 10) disclosed herein.

The method 900 includes an act 905 of contacting a body region of asubject with at least one robotic debridement apparatus. For example,the at least one robotic debridement apparatus can include a housing, atleast one locomotive mechanism positioned in or on the housing, and atleast one debris disposal device in or on the housing. In an embodiment,the at least one robotic debridement apparatus can include at least onedebriding tool or at least one therapeutic device. In an embodiment, theat least one robotic debridement apparatus positioned over the bodyregion can include one or more sensors, a controller, a power source, atleast one marking device, or at least one extraction device.

In an embodiment, contacting a body region of a subject with at leastone robotic debridement apparatus can include manually placing, manuallypositioning, using at least one extraction device or retrieval device,or another suitable method of contacting the at least one roboticdebridement apparatus over the body region. In an embodiment, as will bediscussed in more detail later, contacting a body region of a subjectwith at least one robotic debridement apparatus can include reversiblyattaching a dressing (e.g., dressing 1178 of FIGS. 11A-11B) associatedwith the plurality of robotic debridement apparatuses to the bodyregion.

Act 910 includes debriding tissue (e.g., at least one target tissue)present in the body region. In an embodiment, the tissue is debrided insubstantially the same manner as described in act 810 of method 800(FIG. 8). For example, the at least one robotic debridement apparatuscan include at least one debriding tool that debrides tissue from thebody region. In an embodiment, the tissue can be debrided by a user(e.g., physician) using, for example, a curette, a scalpel, or anotherdevice. In an embodiment, the tissue can be debrided using one or moremaggots applied to the body region.

Act 915 includes capturing with the at least one debris disposal deviceat least one substance from the body region. For example, the debrisdisposal device can capture debrided tissue that was debrided in act910. In an embodiment, the debris disposal device can capture the atleast one substance from the body region using any of the methodsdisclosed herein. For example, the debris disposal device can suctionthe at least one substance from the body region (FIG. 4C). For example,the debris disposal device can adhere or attach thereto the at least onesubstance from the body region (FIGS. 4A, 4D-4E, 4I-4J). For example,the debris disposal device can absorb or attach thereto the at least onesubstance from the body region (FIGS. 4A, 4F-4G, 4I-4J). For example,the debris disposal device can dispense one or more pressurized fluids(FIG. 4H) into or onto the body region.

The method 900 can include optional additional acts. For example, method900 can include at least one of the optional additional acts disclosedin method 900.

L. Systems Including Robotic Debridement Apparatuses

Any of the robotic debridement apparatuses disclosed herein can be usedin systems configured to debride tissue (e.g., at least one targettissue) from a body region. For example, the systems disclosed hereincan include a plurality of robotic debridement apparatuses. In anembodiment, the systems disclosed herein can include a dressingassociated with the robotic debridement apparatuses.

A. Systems Including a Plurality of Robotic Debridement Apparatuses

FIG. 10 is a schematic illustration of a system 1074 that includes aplurality of robotic debridement apparatuses 1000, according to anembodiment. In the illustrated embodiment, the plurality of roboticdebridement apparatuses 1000 include at least one first roboticdebridement apparatus 1000 a, at least one second robotic debridementapparatus 1000 b, and at least one third robotic debridement apparatus1000 c. However, the system 1074 can include only two roboticdebridement apparatuses or four or more robotic debridement apparatuses.Except as otherwise described herein, the first, second, and thirdrobotic debridement apparatuses 1000 a, 1000 b, 1000 c shown in FIG. 10and their materials, components, or elements can be similar to or thesame as one or more of the robotic debridement apparatuses 100, 200 a-g,300 a-o, 400 a-j, 500 a-b, 600, 700, (FIGS. 1-7) and their respectivematerials, components, or elements. For example, the robotic debridementapparatuses 1000 shown in FIG. 10 can include a housing 1002, at leastone locomotive mechanism (e.g., first or second locomotive mechanisms1004 a, 1004 b), at least one debriding tool (e.g., any of the debridingtools 306 a-o of FIGS. 3A-3O), at least one debris disposal device(e.g., any of the debris disposal devices 452 a-j of FIGS. 4A-4J), atleast one therapeutic device (e.g., any of the therapeutic debridementdevices 652 a-b of FIGS. 5A-5B), one or more sensors (not shown), acontroller (not shown), or a power source (not shown).

In an embodiment, at least two (e.g., all) of the first, second, orthird robotic debridement apparatuses 1000 a, 1000 b, 1000 c can besubstantially the same. In an embodiment, at least two (e.g., all) ofthe first, second, or third robotic debridement apparatuses 1000 a, 1000b, 1000 c can be different from each other. For example, at least one ofthe first, second, or third robotic debridement apparatuses 1000 a, 1000b, 1000 c can exhibit a functionality different from that of another atleast one of the first, second, or third robotic debridement apparatuses1000 a, 1000 b, 1000 c. The different functionality can include at leastone locomotive mechanism, at least one sensor, at least one controller,at least one different debriding tool; at least one different debrisdisposal device; at least one different therapeutic device; at leastdifferent marking device (e.g., different taggants); at least onedifferent extraction device; at least one of the first, second, or thirdrobotic debridement apparatuses 1000 a, 1000 b, 1000 c having at leastone of a debriding tool, a debris disposal device, a therapeutic device,a marking device, or an extraction device and another of the first,second, or third robotic debridement apparatuses 1000 a, 1000 b, 1000 cdoes not have that respective device; or another suitable differentfunctionality.

In an embodiment, at least one of the first, second, or third roboticdebridement apparatuses 1000 a, 1000 b, 1000 c can exhibit a differentsize or a different geometry than at least one other of the first,second, or third robotic debridement apparatuses 1000 a, 1000 b, 1000 c.The different sizes of the robotic debridement apparatuses can includeat least one of the first, second, or third robotic debridementapparatuses 1000 a, 1000 b, 1000 c being larger than another of thefirst, second, or third robotic debridement apparatuses 1000 a, 1000 b,1000 c; or at least one of the first, second, or third roboticdebridement apparatuses 1000 a, 1000 b, 1000 c being smaller thananother of the first, second, or third robotic debridement apparatusesdifferent 1000 a, 1000 b, 1000 c. The different sizes or geometries ofthe robotic debridement apparatuses can educate the choice of roboticdebridement apparatuses having different components (e.g.,functionality), for example for use with different sized body regions ordifferent types of body regions, or for different needs or requirements(e.g., different wound debridement needs). The different sizes orgeometries of the robotic debridement apparatuses can facilitate the useof robotic debridement apparatuses having different components (e.g.,functionality), such as when using multiple robotic debridementapparatuses in or on the same body region. The different sizes orgeometries of the robotic debridement apparatuses can also facilitatethe use of robotic debridement apparatuses that are configured todebride different portions of a body region 1076 (e.g., a relativelysmaller robotic debridement apparatus can facilitate debridement oftissue in a relatively narrow portion of the body region 1076). In anembodiment, the system 1074 can include at least one robotic debridementapparatus of a size and geometry able to be effectively used alone on abody region (e.g., in sequential use). In an embodiment, the system 1074can include a plurality of robotic debridement apparatuses 1000 of oneor more size and one or more geometry able to be effectively usedsubstantially simultaneously on a body region (e.g., about 5apparatuses, about 10 apparatuses, about 20 apparatuses, about 50apparatuses, about 100 apparatuses, about 200 apparatuses, about 300apparatuses, etc.)

In an embodiment, at least one of the first, second, or third roboticdebridement apparatuses 1000 a, 1000 b, 1000 c can include one or morefirst sensors 1008 a and another of the first, second or third roboticdebridement apparatuses 1000 a, 1000 b, 1000 c can include one or moresecond sensors 1008 b. The first sensors 1008 a, and second sensors 1008b can be the same type of sensors. The first and second sensors 1008 a,1008 b can be different sensors. For instance, the first sensors 1008 acan include a first type of sensor (e.g., chemical sensor, thermalsensor, etc.) and the second sensors 1008 b can include a second type ofsensor different from the first sensors 1008 a. In an embodiment, thefirst sensor 1008 a can include a plurality of sensors and the secondsensors 1008 b can include a single sensor or a different number ofsensors. In an embodiment, the first sensors 1008 a can detect one ormore first characteristics of the body region 1076, and the secondsensor 1008 b can detect one or more second characteristics of the bodyregion 1076 that are different than the one or more firstcharacteristics. In an embodiment, at least one of the first, second, orthird robotic debridement apparatuses 1000 a, 1000 b, 1000 b can includeat least one sensor and another of the first, second or third roboticdebridement apparatuses 1000 a, 1000 b, 1000 c does not include asensor. The first and second sensors 1008 a, 1008 b can be used, forexample, when the robotic debridement apparatuses include a differentfunctionality, when the robotic debridement apparatuses receiveinformation about the body region 1076 from each other or an externalsource (e.g., the user, a dressing, another robotic debridementapparatus, or the external device 127 of FIG. 1), when the roboticdebridement apparatuses facilitate debridement of different tissues,when the robotic debridement apparatuses are working in concert, whenthe robotic debridement apparatuses facilitate debridement of tissues indifferent portions of the body region 1076, etc.

In an embodiment, at least one of the first, second, or third roboticdebridement apparatuses 1000 a, 1000 b, 1000 c can include at least onefirst locomotive mechanism 1004 a and another of the first, second, orthird robotic debridement apparatuses 1000 a, 1000 b, 1000 c can includeat least one second locomotive mechanism 1004 b. In an embodiment, thefirst locomotive mechanism 1004 a and the second locomotive mechanism1004 b can be substantially the same. In an embodiment, the firstlocomotive mechanism 1004 a and the second locomotive mechanism 1004 bcan be different. For example, the first and the second locomotivemechanisms 1004 a, 1004 b can include different types of locomotivemechanisms (e.g., piezoelectric materials, impelling mechanism,inchworm-like motive mechanism, etc.). In an embodiment, the first andsecond locomotive mechanisms 1004 a, 1004 b can include at least onesimilar locomotive mechanism and at least one different locomotivemechanism (e.g., the first locomotive mechanism 1004 a includes apiezoelectric material and the second locomotive mechanism 1004 bincludes a piezoelectric material and an impelling mechanism). Inanother instance, the first and second locomotive mechanisms 1004 a,1004 b can include a similar type of locomotive mechanism that operatedifferently (e.g., a piezoelectric unimorph and a piezoelectricbimorph).

In an embodiment, at least one of the first, second, or third roboticdebridement apparatuses 1000 a, 1000 b, 1000 c can receive power from anexternal power source (e.g., in the external device 127 of FIG. 1 or inthe dressing 2078 of FIG. 20). In an embodiment, at least one of thefirst, second, or third robotic debridement apparatuses 1000 a, 1000 b,1000 c can receive one or more sensing signals or one or moreoperational instructions from the external source (e.g., external device127 of FIG. 1, a different robotic debridement apparatus, or controller1112 of the dressing 1178 of FIGS. 11A-11B).

In an embodiment, at least one of the first, second, or third roboticdebridement apparatuses 1000 a, 1000 b, 1000 c can include a firstcomponent (not shown), and another of the first, second, or thirdrobotic debridement apparatuses 1000 a, 1000 b, 1000 c can include asecond component (not shown) that is different from the first component.For example, at least one of the first, second or third roboticdebridement apparatuses 1000 a, 1000 b, 1000 c can include a first powersource (e.g., battery), and another of the first, second, or thirdrobotic debridement apparatuses 1000 a, 1000 b, 1000 c includes a secondpower source (e.g., capacitor) that is different than the first powersource. In an embodiment, at least one of the first, second, or thirdrobotic debridement apparatuses 1000 a, 1000 b, 1000 c can include afirst controller (e.g., having memory), and another of the first,second, or third robotic debridement apparatuses 1000 a, 1000 b, 1000 ccan include a second controller (e.g., having a transceiver) that isdifferent than the first controller. In an embodiment, at least one ofthe first, second, or third robotic debridement apparatuses 1000 a, 1000b, 1000 c include a first component, and another of the first, second,or third robotic debridement apparatuses 1000 a, 1000 b, 1000 c do notinclude the first component.

In an embodiment, two or more of the plurality of robotic debridementapparatuses 1000 can be attached together. For example, the attachedrobotic debridement apparatuses 1000 can be directly coupled (e.g.,attached) together, indirectly coupled together (e.g., using a tether),permanently attached together, or temporarily attached together (e.g.,reversibly attached together).

In an embodiment, two or more of the plurality of robotic debridementapparatuses 1000 can be configured to transmit information and otherwisecommunicate with each other. For example, the plurality of roboticdebridement apparatuses 1000 can include at least one first roboticdebridement apparatus 1000 a and at least one second robotic debridementapparatus 1000 b. Each of the first and second robotic debridementapparatuses 1000 a, 1000 b can include a transceiver (e.g., transceiver124 of FIG. 1) that communicably couples the first and second roboticdebridement apparatuses 1000 a, 1000 b together. For example, the firstand second robotic debridement apparatuses 1000 a, 1000 b can be wiredlyor wirelessly coupled together via the transceivers. In an embodiment,the transceivers allow the first robotic debridement apparatus 1000 a totransmit information (e.g., information regarding one or more sensingsignals, a location of the first robotic debridement apparatus 1000 a oranother robotic debridement apparatus, a portion of the body region thatrequires additional work, etc.) to the second robotic debridementapparatus 1000 b, or vice versa.

In an embodiment, at least one of the first or second roboticdebridement apparatuses 1000 a, 1000 b includes a controller (e.g., thecontroller 112 of FIG. 1). For example, when the first roboticdebridement apparatus 1000 a includes the controller, the controller ofthe first robotic debridement apparatus 1000 a can at least partiallycontrol the operation of the first or second robotic debridementapparatuses 1000 a, 1000 b. For example, when each of the first andsecond robotic debridement apparatuses 1000 a, 1000 b includes thecontroller, the controller of the first robotic debridement apparatus1000 a or the controller of the second robotic debridement apparatus1000 b can at least partially control the operation of the first orsecond robotic debridement apparatuses 1000 a, 1000 b. For example, wheneach of the first and second robotic debridement apparatuses 1000 a,1000 b include the controller, the controller of the first roboticdebridement apparatus 1000 a can at least partially inform thecontroller of the second robotic debridement apparatuses 1000 b of anoperation performed by the first robotic debridement apparatus 1000 a.

In an embodiment, a first robotic debridement apparatus 1000 a includesa controller (e.g., controller 112 of FIG. 1) configured to control theoperation of at least one of the second or third robotic debridementapparatuses 1000 b, 1000 c. For example, the controller of the firstrobotic debridement apparatus 1000 a can function as a commander ormaster of at least one of the second or third robotic debridementapparatuses 1000 b, 1000 c, thereby directing a coordinated effort. Forinstance, the first and second robotic debridement apparatuses 1000 a,1000 b can each include at least one debriding tool and the controllercontrols (e.g., choreographs) the movement of the first and secondrobotic debridement apparatuses 1000 a, 1000 b to debride tissue in abody region in a coordinated fashion. For instance, the first roboticdebridement apparatus 1000 a can include a debriding tool having ablade, the second robotic debridement apparatus 1000 b can include adebriding tool having pressurized fluid-dispenser, and the third roboticdebridement apparatus 1000 c can include at least one debris disposaldevice. As such, the controller of the first robotic debridementapparatus 1000 a can coordinating the movements and functions of thefirst, second, and third debridement apparatuses 1000 a, 1000 b, 1000 cto debride (e.g., by scraping, cutting, etc.) tissue (e.g., necrotictissue) of a body region, flush the body region with a debriding orirrigation fluid, and capture debris (e.g., debrided tissue) from thebody region.

In an embodiment, the first robotic debridement apparatus 1000 aincludes a controller and programming configured to control (e.g., in acoordinated manner) at least one of the second or third roboticdebridement apparatuses 1000 b, 1000 c. In an embodiment, the controllerof the first robotic debridement apparatus 1000 a is programmable. Forexample, the controller of the first robotic debridement apparatus 1000a can be in communication with an external device (e.g., external device127 of FIG. 1) having a user interface, and can be programmed throughthe user interface to control the movements and functions of itself andat least one of the second or third robotic debridement apparatuses 1000b, 1000 c.

In an embodiment, the transceiver of at least one of the first, second,or third robotic debridement apparatuses 1000 a, 1000 b, 1000 c iscommunicably coupled to a device remote and separate from the first,second, or third robotic debridement apparatuses 1000 a, 1000 b (e.g.,external device 127 of FIG. 1, the dressing 1178 of FIGS. 11A-11B). Thedevice can be configured to at least partially control the operation ofthe first, second, or third robotic debridement apparatuses 1000 a, 1000b, 1000 c.

In an embodiment, the plurality of robotic debridement apparatuses 1000(e.g., the first, second, and third robotic debridement apparatuses 1000a, 1000 b, 1000 c) includes a selected variety of different roboticdebridement apparatuses that are each different. The variety ofdifferent robotic debridement apparatuses can include, for example, anyof the differences disclosed herein. The plurality of roboticdebridement apparatuses 1000 can be selected from the variety ofdifferent robotic debridement apparatuses based on at least one of thetype of tissue to be debrided, the shape and size of the body region1076, the depth of the body region 1076, the type of dressing used withthe body region 1076, the method used to debride tissue (e.g., usingsurgical tools or robotic debridement apparatuses), etc. For example,the first robotic debridement apparatus 1000 a can be selected topreferentially debride a certain type of tissue (e.g., includes sensorsconfigured to detect the certain type of tissue), the second roboticdebridement apparatus 1000 b can be selected to preferentially capturecomponents of the debrided certain type of tissue, and the third roboticdebridement apparatus 1000 c can be selected to provide a selectedtherapeutic effect based on the certain type of tissue. For example, afirst combination of robotic debridement apparatuses can be selected fora first debridement session of a body region, and a second, differentcombination of robotic debridement apparatuses can be chosen for asecond debridement session of a body region. For instance, the firstselected plurality of robotic debridement apparatuses can each includeat least one debriding tool for dispensing one or more hydrogelsincluding collagenase. The second selected plurality of roboticdebridement apparatuses can include a combination of at least one firstrobotic debridement apparatus that includes at least one debriding toolfor dispensing an analgesic, at least one second debridement apparatusthat includes at least one debriding tool for scraping the driedhydrogel (e.g., a flat blade), and at least one third roboticdebridement apparatus that includes at least one debris disposal devicefor capturing the scraped hydrogel and associated debris.

In an embodiment, the variety of robotic debridement apparatuses can beprovided as part of a kit that facilitates debridement of the bodyregion 1076. For example, the kit can include a variety of roboticdebridement apparatuses that a user can select (e.g., select only aportion of or all of the variety of robotic debridement apparatuses), adressing, surgical tools used to debride the tissue, maggots, one ormore therapeutic agents to be applied by a user to the body region 1076,or any other device that can facilitate debridement of tissue from thebody region 1076.

B. Systems Including a Dressing and a Plurality of Robotic DebridementApparatuses

FIGS. 11A and 11B are schematic cross-sectional side and top plan viewillustrations, respectively, of a system 1174 that includes a dressing1178 that is associated with a plurality of robotic debridementapparatuses 1100, according to an embodiment. The dressing 1178 can beassociated with the plurality of robotic debridement apparatuses 1100 ina manner that facilitates debridement of a body region 1176. Forexample, as discussed in more detail hereafter, the dressing 1178 canfacilitate operation of the robotic debridement apparatuses 1100. In anembodiment, the dressing 1178 can directly facilitate debridement oftissue (e.g., at least one target tissue). In an embodiment, thedressing 1178 can include at least one layer 1180. For example, thedressing 1178 can include a single layer. For example, the dressing 1178can include a first layer and at least one second layer, which can be ofthe same or different composition as the first layer. For example, thedressing 1178 can include a plurality of layers. In an embodiment, thedressing 1178 at least partially (e.g., completely) encloses (e.g.,encircles) the body region 1176 or at least one of the roboticdebridement apparatuses 1100. As such, the dressing 1178 can at leastpartially confine the robotic debridement apparatuses 1100 within thebody region 1176. Although FIGS. 11A-11B illustrates and describes thesystem 1174 as including a plurality of robotic debridement apparatuses1100 associated with the dressing 1178, it is understood that the system1174 can include a single robotic debridement apparatus associated withthe dressing 1178.

The system 1174 can include the plurality of robotic debridementapparatuses 1100. Except as otherwise described herein, the roboticdebridement apparatuses 1100 shown in FIGS. 11A-11B and their materials,components, or elements can be similar to or the same as the roboticdebridement apparatus 100, 200 a-g, 300 a-o, 400 a-j, 500 a-b, 600, 700,1000 (FIGS. 1-7, 10) and their respective materials, components, orelements. For example, each of the robotic debridement apparatuses 1100shown in FIGS. 11-11B can include at least one of a housing, at leastone locomotive mechanism, at least one debriding tool, at least onedebris disposal device, at least one therapeutic device, one or moresensors, a controller, or a power source (not shown).

C. Components of the Dressing

The dressing 1178 can include one or more components positioned thereinor thereon that facilitate functioning of the dressing 1178. The one ormore components positioned in or on the dressing 1178 can be used in anyof the dressings embodiments disclosed herein.

Referring to FIG. 11A, the dressing 1178 can include one or more sensors1108 positioned in or on the dressing 1178. For example, the sensors1108 can be positioned on an outer surface 1182 of the dressing 1178,can extend from the outer surface 1182 into the body region 1176, can bepositioned on another surface of the dressing 1178, or can be positionedinside the dressing 1178 itself. The sensors 1108 can be configured todetect one or more characteristics of the body region 1176, the dressing1178, or at least one of the robotic debridement apparatuses 1100.

In an embodiment, the sensors 1108 can be the same as or similar to thesensors 108 (FIG. 1). In an embodiment, the sensors 1108 can includesensors that are different from the sensors 108 (FIG. 1). For example,the sensors 1108 can include at least one chemical sensor, at least onethermal sensor, at least one moisture sensor, at least one electricalconductivity sensor, at least one optical sensor, at least one acousticsensor, at least one electrical power sensor, or another sensordisclosed herein. For example, the sensors 1108 can be configured todetect tissue viability, tissue type, the presence of a microbe,components of wound exudate, moisture content of the body region 1176,temperature of the body region 1176, or another characteristic of thebody region 1176. For example, the sensors 1108 can be configured todetect one or more agents released into or onto the body region 1176,the presence of the robotic debridement apparatuses 1100 (e.g., usingunique identifier tags such as RFID tags), one or more characteristicsof the dressing 1178 (e.g., moisture content, presence of a microbe, oran aspect of an electronic component such as a power level), etc.

The sensors 1108 can transmit one or more sensing signals. For example,the sensors 1108 can transmit one or more sensing signals responsive todetecting the one or more characteristics of the body region 1176, thedressing 1178, or at least one of the robotic debridement apparatuses1100. The sensing signals can include data having information regardingthe detected characteristics encoded therein. The sensors 1108 cantransmit the sensing signals to one or more components of the system1174 (e.g., one or more components of the dressing 1178, one or morecomponents of at least one of the robotic debridement apparatuses 1100,or the external device 127 of FIG. 1). The sensors 1108 can be sense thecharacteristics or transmit the sensing signals responsive to directionfrom a controller 1112, controller 1112′ (e.g., controller 112 ofFIG. 1) coupled to at least one of the robotic debridement apparatuses1100, or to one or more external devices (e.g., external device 127 ofFIG. 1).

In an embodiment, the dressing 1178 includes a controller 1112 that ispositioned in or on the dressing 1178. The controller 1112 can be thesame as or similar to the controller 112 (FIG. 1). For example, thecontroller 1112 can include memory 1122, a transceiver 1124 (e.g.,receiver or transmitter), or a processor 1126.

In an embodiment, the controller 1112 can be communicatively coupled(e.g., wiredly or wirelessly) to one or more components of the system1174, such as one or more components of the dressing 1178 or one or morecomponents of the robotic debridement apparatuses 1100. For example, thedressing 1178 can be communicably coupled to at least one of the roboticdebridement apparatuses 1100 (e.g., the controller 1112 can transmitoperational signals or informational signals to at least one of therobotic debridement apparatuses 1100). The controller 1112 can beconfigured to control at least one of the one or more components of thesystem 1174 that are communicably coupled to the controller 1112. Forinstance, the controller 1112 can control the operation of at least oneof the robotic debridement apparatuses 1100 (e.g., instead of or inconjunction with the controller 1112′), the sensors 1108, etc. In anembodiment, the controller 1112 controls the operation of the one ormore components of the system 1174 responsive to receiving the sensingsignals transmitted from the sensors 1108 or sensors coupled to at leastone of the robotic debridement apparatus (e.g., sensors 108 of FIG. 1).In an embodiment, the controller 1112′ can at least partially controlthe operation of the dressing 1178 (e.g., the controller 1112).

In an embodiment, the system 1174 can include an external device (e.g.,external device 127 of FIG. 1) that is communicably coupled (e.g.,wiredly or wirelessly) to one or more components of the system 1174. Forexample, the controller 1112 can transmit or receive information (e.g.,one or more command signals, one or more user directed commands, one ormore programs, one or more sensing signals, one or more operationalinstructions, etc.) to or from the external device. In an embodiment,the external device can at least partially control the operation of thedressing 1178 or another component of the system 1174 (e.g., allow auser to remotely control, at least partially control the operation of atleast one component of the system 1174 or program the controller 1112).In an embodiment, the controller 1112 can be incorporated with one ormore devices remote from the dressing 1178.

The dressing 1178 can include a dressing power source 1110. The dressingpower source 1110 can be is positioned in or on the dressing 1178 orexternal the dressing 1178. The dressing power source 1110 can be thesame as or similar to the power source 110 (FIG. 1). For example, thedressing power source 1110 can include at least one battery or at leastone capacitor. Additionally, the dressing power source 1110 can beelectrically coupled to one or more components of the system 1174. Forexample, the dressing power source 1110 can be coupled to the sensors1108, the controller 1112, or at least one of the robotic debridementapparatuses 1100. In an embodiment, the dressing power source 1110 caninclude any of the power-generating devices disclosed herein. In anembodiment, the dressing power source 1110 can be coupled to andconfigured to provide electrical power to at least one of the roboticdebridement apparatuses 1100. For example, at least one of the roboticdebridement apparatuses 1100 can be wiredly coupled or wireless coupled(e.g., via the magnetic field-generating device 2199 of FIG. 21). In anembodiment, the dressing power source 1110 can be coupled to a device(e.g., socket, battery) external to the dressing 1178 and configured toreceive electrical power from the device. In an embodiment, the powersource 1110 is omitted and the dressing 1178 receives electrical power(if needed) from a device external therefrom (e.g., the socket, thebattery).

In an embodiment the dressing 1178 includes at least one electroniccomponent that is a flexible electronic component or conformableelectronic component. For example, the dressing 1178 can include one ormore of serpentine circuitry, flexible circuitry, or electronic threads.In an embodiment, at least one component of the dressing 1178 can bemanufactured using an additive manufacturing process.

D. Composition of the Dressing

In an embodiment, at least a portion of the dressing 1178 (e.g., the atleast one layer 1180) is formed from a material that is at leastsemi-permeable (e.g., permeable) to a gas. As such, the dressing 1178can permit a gas (e.g., air) from a region external to the dressing 1178to flow therethrough into the body region 1176. Permitting a gas to flowthrough the dressing 1178 can improve the healing process of the bodyregion due to the increased demand for oxygen during the healing process(e.g., cell proliferation, bacterial defense, angiogenesis, collagensynthesis, etc.). In an embodiment, at least a portion of the dressing1178 can be substantially impermeable to gas. Such as dressing 1178 canmaintain moist conditions within the body region 1176, which canfacilitate fibrinolysis and angiogenesis. In an embodiment, at least aportion of the dressing 1178 can be formed from chiffon, rayon, nylon,gauze, hydrocolloid, hydrogel, alginate, collagen, hydrofiber dressing,polyvinyl film, polyurethane (e.g., Tegaderm), or another suitablematerial.

In an embodiment, the dressing 1178 includes a first layer and at leastone second layer that is different from the first layer in compositionor function. For example, the dressing 1178 can include a bandage havingseveral layers of the same material. For example, the dressing 1178 caninclude a primary bandage (e.g., interfacing with a wound) and asecondary bandage (e.g., a polyurethane film bandage that adheres toskin adjacent the wound and holds the primary bandage in place). Forexample, the dressing 1178 can include a multi-layer dressing such as acomposite dressing. The composite dressing can include a contact layercomprising a non-adherent material (e.g., rayon, nylon, orpolyethylene), a middle layer comprising a material (e.g., hydrogel,semi-permeable foam, hydrocolloid, or alginate) able to absorb moistureand wick it away from a wound bed yet maintain a moist environment, andan outer layer comprising a semi-permeable film that serves as aprotective barrier.

In an embodiment, the dressing 1178 can include an interfacial surface1184 that is configured to contact and attach to the body region 1176(e.g., a skin surface of the wound). For example, the interfacialsurface 1184 can exhibit a shape that substantially conforms to asurface of the body region 1176, is malleable, is pliable, or isdeformable. In an embodiment, the interfacial surface 1184 is configuredto be reversibly attached to the body region 1176 or to a body part(e.g., a limb, or a torso) that includes the body region 1176. Forexample, at least a portion of the interfacial surface 1184 can includean adhesive or other attachment mechanism thereon. The adhesive or otherattachment mechanism can be attached to the body region 1176 such thatremoving the dressing 1178 from the body region 1176 does notsignificantly damage healthy tissue. For example, at least a portion ofthe adhesive can attach to tissue adjacent a wound in the body region.For example, the dressing 1178 can be attached by wrapping the dressing1178 around a body part (e.g., a leg, a foot, an ankle, an arm, a hand,a wrist, a torso, a head, etc.).

In an embodiment, the dressing 1178 can include a biodegradablematerial. In such an embodiment, the interfacial surface 1184 caninclude an adhesive or other attachment mechanism that is configure toreversibly or non-reversibly attach (e.g., substantially permanentlyattach) to the body region 1176. In an embodiment, the dressing 1178 caninclude at least one layer 1180 that defines the interfacial surface1184. For example, the at least one layer 1180 can include ahydrocolloid layer, a hydrogel layer, hydrofiber dressing, etc. In anembodiment, the dressing 1178 can include an adhesive between the atleast one layer 1180 and the body region.

The compositions and materials with regards to the dressing 1178 can beused in any of the dressing embodiments disclosed herein.

In an embodiment, the dressing 1178 comprises a sterile material. In anembodiment, the dressing 1178 or a component therein or thereon issterilizable.

In an embodiment, the dressing 1178 includes at least one shape or atleast one size that is appropriate to fit (e.g., at least partiallycover) the body region 1176 or to facilitate functioning of one or morerobotic debridement apparatuses 1100. In an embodiment, the dressing1178 includes a first layer having a first shape and at least one secondlayer having at least one second shape that differs from the firstshape. In an embodiment, the dressing 1178 includes a first layer havinga first size and at least one second layer having at least one secondsize that differs from the first size. For example, the dressing 1178can include at least one layer that is a rectangle, a triangle, acircle, or a ring. For example, the dressing 1178 can include as a firstlayer (e.g., a primary dressing) that is a small circle and a secondlayer (e.g., a cover layer) that is a rectangular film that holds thecircle in place.

E. Types of Dressings

The dressings disclosed herein can include different types of dressings.In an embodiment, the dressings disclosed herein can include aconfinement dressing that is configured to confine the plurality ofrobotic debridement apparatuses within the body region. The confinementdressing can be configured to have the robotic debridement apparatusesdirectly positioned in the body region. In an embodiment, the dressingsdisclosed herein can include a containment dressing that is configuredto contain the robotic debridement apparatuses therein. As such, acontainment dressing is configured to have the robotic debridementapparatuses indirectly positioned in the body region.

Referring to FIG. 11B, the dressing 1178 is an example of a confinementdressing. The dressing 1178 includes a ring dressing that at leastpartially (e.g., completely) extends laterally about (e.g., encircles)the body region 1176. For example, the at least one layer 1180 of thedressing 1178 can be reversibly attached or otherwise attached to a skinsurface that extends laterally about or forms part of a wound on thebody region 1176 (e.g., so that the dressing 1178 encircles the wound).The at least one layer 1180 can also extend generally upwardly from theskin surface for a selected distance.

In an embodiment, the dressing 1178 can be configured to prevent atleast one of the robotic debridement apparatuses 1100 from leaving thebody region 1176. For example, the at least one layer 1180 of thedressing 1178 can include a material, shape, color, design, or otherfeature that can be detected by sensors 1108′ (e.g., sensors 108 ofFIG. 1) coupled to at least one robotic debridement apparatus 1100. Theat least one robotic debridement apparatus 1100 can include operationalinstructions that prevent the at least one robotic debridement apparatus1100 from crossing the dressing 1178 after the dressing 1178 isdetected.

In an embodiment, the at least one layer 1180 of the dressing 1178 caninclude a material that exhibits a low coefficient of friction against aportion of the at least one robotic debridement apparatus 1100 thatcontacts the at least one layer 1180. The low coefficient of frictioncan prevent the at least one robotic debridement apparatus 1100 fromcrossing or climbing on the at least one layer 1180 of the dressing1178.

In an embodiment, the selected distance that the at least one layer 1180of the dressing 1178 extends above the skin surface can be sufficient toprevent the at least one robotic debridement apparatus 1100 fromcrossing the at least one layer 1180. For instance, the selecteddistance can be at least 20% (e.g., at least 50%, at least 100%) of thetotal height of the at least one robotic debridement apparatus 1100, themaximum height the locomotive mechanism 1104 vertically moves the atleast one robotic debridement apparatus 1100, or the vertical height ofan impelling mechanism (e.g., impelling mechanism 105, 205 c, 205 d, 205f of FIGS. 1, 2C, 2D, 2F).

In the illustrated embodiment, the dressing 1178 forms an open airsystem 1174 since the dressing 1178 is a ring dressing. In other words,the dressing 1178 does not completely cover the body region 1176 or therobotic debridement apparatuses 1100. For example, the at least onelayer 1180 defines at least one opening 1186. As such, the body region1176 is exposed to air (e.g., oxygen) regardless of the materials thatare used to form the dressing 1178. Additionally, the at least oneopening 1186 can enable a user to position or remove at least onerobotic debridement apparatus 1100 in or from the body region 1176 afterthe dressing 1178 is attached to the body region 1176. In an embodiment,the dressing 1178 can include at least one additional layer (not shown)that covers the opening 1186 (e.g., a flap). The at least one additionallayer can protect the body region 1176, be reversibly attached to the atleast one layer 1180, be at least semi-permeable to gas, or at leastpartially transparent.

FIG. 12 is a schematic view of a system 1274 that includes a dressing1278 and at least one robotic debridement apparatus 1200 (e.g., aplurality of robotic debridement apparatuses 1200) positioned in a bodyregion 1276, according to an embodiment. The dressing 1278 is anotherexample of a confinement dressing 1278. The dressing 1278 includes atleast one layer 1280 that at least partially (e.g., completely) enclosesor covers the body region 1276 or the robotic debridement apparatuses1200. For example, the at least one layer 1280 can exhibit a generallysheet-like or generally planar shape that exhibits a size and shape thatcovers at least a portion of the body region 1276. The at least onelayer 1280 can also include an interfacial surface 1284 that attaches toa portion of the body region 1276 (e.g., attaches to a skin surface thatextends about a wound in the body region). The dressing 1278 can defineat least one aperture (not shown).

In the illustrated embodiment, the system 1274 includes the at least onerobotic debridement apparatus 1200 positioned directly into the bodyregion 1276. As such, the robotic debridement apparatus 1200 ispositioned between the dressing 1278 (e.g., the at least one layer 1280)and the body region 1276.

In an embodiment, the system 1274 be configured such that the dressing1278 (e.g., the at least one layer 1280) is positioned between therobotic debridement apparatus 1200 and the body region 1276. In anembodiment the dressing 1278 can be configured to enable the roboticdebridement apparatus 1200 positioned above the dressing 1278 to be influid communication with the body region 1276. For example, the dressing1278 can define at least one aperture (e.g., aperture 1387 of FIG. 13)having sufficient size to allow the robotic debridement apparatus 1200positioned above the dressing 1278 to have access to the body region1276, while preventing the robotic debridement apparatus 1200 frompassing therethrough.

FIG. 13 is a schematic view of a system 1374 that includes a dressing1378 and at least one robotic debridement apparatus 1300 (e.g., aplurality of robotic debridement apparatuses 1300) positioned in a bodyregion 1376, according to an embodiment. The dressing 1378 is an exampleof a containment dressing. In particular, the dressing 1378 includes therobotic debridement apparatus 1300 positioned therein. For example, thedressing 1378 can define at least one containment region 1388 thatincludes the robotic debridement apparatus 1300 therein. The containmentregion 1388 can be substantially enclosed by the dressing 1378 or merelypartially enclosed by the dressing 1378 (e.g., permitting the roboticdebridement apparatuses 1300 to be removed therefrom or added thereto).

In the illustrated embodiment, the dressing 1378 includes a first layer1380 and a second layer 1390 positioned above the first layer 1380. Thefirst layer 1380 and the second layer 1390 can be distinct layersattached together or can be integrally formed together. In anembodiment, at least one of the first or second layers 1380, 1390 canexhibit a generally sheet-like or generally planar shape thatsubstantially covers the body region 1376 and is attached to the bodyregion 1376 (e.g., attached to a skin surface that extends about a woundof the body region 1376). In an embodiment, the first and second layers1380, 1390 do not cover the body region 1376. In such an embodiment, thefirst or second layers 1380, 1390 can be attached to another layer (notshown) that substantially covers the body region 1376 (e.g., wrappingaround a body part that includes the body region 1376), or the first andsecond layers 1380, 1390 can be attached to a portion of the body region1376.

The first and second layers 1380, 1390 can be formed (e.g., attached)together in any manner that forms the containment region 1388therebetween. For example, the first and second layers 1380, 1390 can beattached around a periphery thereof using at least one of an adhesive, athread, etc. In an embodiment, at least one of the first layer 1380, thesecond layer 1390, or an interface therebetween can define a passageway(not shown) that allows the at least one robotic debridement apparatus1300 positioned in the containment region 1388 to pass therethrough. Forexample, the passageway can include a slit formed within the first orsecond layers 1380, 1390, a reversible closure between the first andsecond layers 1380, 1390, or another suitable passageway. As such, thepassageway can allow the robotic debridement apparatus 1300 to beremoved from or added to the containment region 1388. In an embodiment,the first and second layers 1380, 1390 completely enclosed thecontainment region 1388.

In an embodiment, the first layer 1380 can include a plurality ofapertures 1386 formed therein that permit the robotic debridementapparatus 1300 to be in fluid communication with the body region 1376.For example, at least one of the apertures 1386 can exhibit a size andgeometry that permits fluid, debrided tissue, at least one substance, orother tissue to enter the containment region 1388. In an embodiment, atleast one of the apertures 1386 can exhibit a size and geometry thatpermits a portion of the robotic debridement apparatus 1300 to extendtherethrough. In an embodiment, at least one of the apertures 1386 canexhibit a size that permits a fluid-dispensed by the robotic debridementapparatus 1300 to pass therethrough. In an embodiment, each of theplurality of apertures 1386 can exhibit a size and geometry thatprevents the at least one robotic debridement apparatuses 1300 presentin the containment region 1388 from passing therethrough.

In an embodiment, the at least one robotic debridement apparatus 1300can be positioned within one or more layers of the dressing 1378 insteadof in the containment region 1388. For example, the robotic debridementapparatus 1300 can be positioned within the first layer 1380 or thesecond layer 1390. In an embodiment, the containment region 1388 may beomitted.

In an embodiment, the dressing 1378 can be configured as both acontainment dressing and a confinement dressing. For example, the system1374 can include at least one robotic debridement apparatus 1300positioned in the body region 1376 (e.g., directly positioned in thebody region 1376) and at least one of the robotic debridementapparatuses 1300 can be positioned in the containment region 1388.

F. Association of the Dressing with the Plurality of Robotic DebridementApparatuses

As previously discussed, any of the dressings disclosed herein can beconfigured to be associated with at least one of a plurality of roboticdebridement apparatuses positioned in the body region. FIGS. 11A-11B,and 14-22 are schematic illustrations of different systems that includea dressing having different associations with a plurality of roboticdebridement apparatuses, according to different embodiments. Thedressings illustrated in FIGS. 11A-11B, and 14-22 are associated with atleast one of the plurality of robotic debridement apparatuses when thedressing is coupled (e.g., directly attached, indirectly attached,reversibly attached, permanently attached, electrically coupled, etc.)to at least one of the robotic debridement apparatuses, facilitatesoperation of at least one of the robotic debridement apparatuses, ordirectly facilitates debridement of tissue from the body region alongwith the robotic debridement apparatuses. Although FIGS. 11A-11B, and14-22 illustrate and describe systems that include a plurality ofrobotic debridement apparatuses associated with the dressing, it isunderstood that the systems can include a single robotic debridementapparatus associated with the dressing.

Except as otherwise described herein, the dressings shown in FIGS.11A-11B and 14-22 and their materials, components, or elements can besimilar to or the same as the dressings 1178, 1278, 1378 (FIGS. 11A-13)and their respective materials, components, or elements. For example,the dressings illustrated in 11A-11B, and 14-22 can be configured as aconfinement dressing (e.g., dressing 1178, 1278 of FIGS. 11A-12) or as acontainment dressing (e.g., dressing 1378 of FIG. 13). Any of theassociations between the dressings and the plurality of roboticdebridement apparatuses disclosed in FIGS. 11A-11B and 14-22 can be usedin any of the dressing embodiments disclosed herein.

Additionally, except as otherwise described herein, the plurality ofrobotic debridement apparatuses shown in FIGS. 11A-11B and 14-22 andtheir materials, components, or elements can be similar to or the sameas the robotic debridement apparatuses 100, 200 a-g, 300 a-o, 400 a-j,500 a-b, 600, 700, 1000 (FIGS. 1-7, 10) and their respective materials,components, or elements. For example, the robotic debridementapparatuses shown in FIGS. 11A-11B and 14-22 can include at least someof a housing, at least one locomotive mechanism, at least one debridingtool, at least one debris disposal device, at least one therapeuticdevice, one or more sensors, a controller, or a power source.

Referring to FIG. 11A, as previously discussed, the dressing 1178 caninclude one or more sensors 1108 positioned in or on the dressing 1178.The sensors 1108 can be configured to detect one or more characteristicsof the body region 1176. The sensors 1108 can be configured to transmitone or more sensing signals to one or more components of the system1174. For example, the sensors 1108 can transmit the sensing signals toat least one robotic debridement apparatus 1100 that does not includesensors coupled thereto or does not include sensors configured to detectat least one characteristic encoded in the sensing signals. In anembodiment, the robotic debridement apparatuses 1100 that receive thesensing signals can operate responsive to receiving the sensing signals.For example, the robotic debridement apparatuses 1100 that receive thesensing signals can include a controller 1112′ that directs at least onelocomotive mechanism 1104 (e.g., locomotive mechanism 104 of FIG. 1) tomove its respective robotic debridement apparatuses 1100 to a locationof the body region 1176 having un-debrided tissue or away from alocation having healthy tissue. The robotic debridement apparatuses 1100that receives the sensing signals can receive the sensing signals usinga transceiver 1124′ (e.g., transceiver 124 of FIG. 1). The sensors 1108can transmit the sensing signals using, for example, a transceiver 1191positioned therein or thereon or the transceiver 1124.

As previously discussed, the dressing 1178 can include a controller 1112positioned therein or thereon. The controller 1112 can include controlelectrical circuitry (e.g., memory 1122, transceiver 1124, or processor1126) that is configured to control the operation of one or morecomponents of the system 1174 (e.g., one or more components of at leastone of the robotic debridement apparatuses 1100). For example, thecontroller 1112 can transmit (e.g., wirelessly or wiredly) one or moreoperational instructions therefrom to at least one of the roboticdebridement apparatuses 1100 using the transceiver 1124. The at leastone robotic debridement apparatus 1100 that receives the operationalinstructions from the controller 1112 can at least one of move, debridetissue, dispose of substances in the body region 1176, provide atherapeutic effect to the body region 1176, or otherwise operateresponsive to the operational instructions. In an embodiment, thecontroller 1112 can receive (at the transceiver 1124) one or moreoperational instructions from at least one of the robotic debridementapparatuses 1100 (e.g., from controller 1112′). The operationalinstructions received from the at least one of the robotic debridementapparatuses 1100 can at least partially control the operation of thedressing 1178 or can be at least partially transmitted by thetransceiver 1124 to another of the robotic debridement apparatuses 1100to at least partially control the operation of the another of therobotic debridement apparatuses 1100.

Referring to FIG. 14, an embodiment of a system 1474 includes a dressing1478 that is associated with a plurality of robotic debridementapparatuses 1400 in which the dressing 1478 is configured to dispenseone or more fluids, one or more gels, or one or more hydrogels into abody region 1476. In the illustrated embodiment, the dressing 1478includes one or more regions 1492 with the fluids, gels, or hydrogels(collectively illustrated with the reference number 1433) therein. Theregions 1492 can be positioned in or on the dressing 1478.

The regions 1492 can be configured to passively provide the fluids,gels, or hydrogels 1433 to the body region 1476. For example, theregions 1492 can include an absorbent material (e.g., absorbent material458 of FIGS. 4G-4H), at least one reservoir (e.g., reservoir 335 i, 335j, 441, 535 of FIG. 3I, 3J, 4H, or 5) that is or is not fluidly coupledto a dispense element, or another device configured to passivelydispense the fluids, gels, or hydrogels 1433. A device passivelyprovides the fluids, gels, or hydrogels 1433 when the device does notinclude electronic or mechanical devices coupled thereto that isconfigured to dispense the fluids into or onto the body region 1476. Forexample, the regions 1492 can use gravity, capillary action, or pressurefrom the dressing 1478 pressing against the body region 1476 to dispensethe fluids, gels, or hydrogels 1433 into or onto the body region 1476.

In an embodiment, the regions 1492 can be configured to store any of thefluids, gels, or hydrogels 1433 disclosed herein. For example, theregions 1492 can be configured to store one or more biocompatiblefluids, one or more debriding agents, one or more degrading agents, oneor more therapeutic agents, or another fluid-disclosed herein. In anembodiment, the regions 1492 can store the fluids in a sterileenvironment. In an embodiment, the regions 1492 can accept fluids from auser after the dressing 1478 is positioned over the body region 1476.For example, regions 1492 can an inlet (not shown) that can receive oneor more fluids from a user.

Referring to FIG. 15, an embodiment of a system 1574 includes a dressing1578 that is associated with a plurality of robotic debridementapparatuses 1500 in which the dressing 1578 is configured to dispenseone or more fluids, one or more gels, or one or more hydrogels at a bodyregion 1576. In the illustrated embodiment, the dressing 1578 includesone or more devices that are configured to actively dispense the fluids,gels, or hydrogels (collectively illustrated with the reference number1533) into the body region 1576. The fluids, gels, or hydrogels 1533 caninclude the same fluids, gels, or hydrogels 1533 dispensed from theplurality of regions 1492 (FIG. 14).

In the illustrated embodiment, the dressing 1578 includes at least onefluid reservoir 1535 positioned in or on the dressing 1578. The fluidreservoir 1535 can be the same as or substantially similar to any of thereservoirs or regions disclosed herein. The fluid reservoir 1535 can befluidly coupled to at least one fluid-dispense element 1536 positionedin or on the dressing 1578. The fluid-dispense element 1536 can be thesame as or substantially similar to any of the dispense elementsdisclosed herein. The fluid-dispense element 1536 can include at leastone fluid-dispense aperture 1540 that is configured to dispense thefluids, gels, or hydrogels 1533 into or onto the body region 1576. Theat least one fluid-dispense aperture 1540 can form part of a sprayer, aslit nozzle, etc. The dressing 1578 can include one or more actuators1550 positioned therein or thereon. The actuators 1550 can be operablycoupled to at least one of the fluid reservoir 1535 or thefluid-dispense element 1536. For example, the actuators 1550 can bedistinct from or integrally formed with the fluid reservoir 1535 or thefluid-dispense element 1536. During operation, the actuators 1550 canapply a pressure to or otherwise actuate the fluid reservoir 1535 or thefluid-dispense element 1536, thereby causing the fluids, gels, orhydrogels 1533 to be dispensed into or onto the body region 1576. Theactuators 1550 can include a piezoelectric material, a clamp, a pump, acompressor, or another actuator disclosed herein. In an embodiment, theactuators 1550 can move the fluid-dispense element 1536 relative to thedressing 1578 such that the fluid-dispense element 1536 controllablydispenses the fluids, gels, or hydrogels 1533 towards different selectedportions of the body region 1576.

In an embodiment, the dressing 1578 can include a controller 1512positioned therein or thereon. The controller 1512 can be communicablycoupled to the actuators 1550, the fluid reservoir 1535, or thefluid-dispense element 1536. The controller 1512 can direct theactuators 1550, the fluid reservoir 1535, or the fluid-dispense element1536 to controllably dispense the fluids, gels, or hydrogels 1533 intoor onto the body region 1576. In another example, at least one of therobotic debridement apparatuses 1500 can include a controller 1512′ andthe controller 1512′ can direct the actuators 1550, the fluid reservoir1535, or the fluid-dispense element 1536 to controllably dispense thefluids, gels, or hydrogels 1533 into or onto the body region 1576.

Referring to FIG. 16, an embodiment of a system 1674 includes a dressing1678 that is associated with a plurality of robotic debridementapparatuses 1600 in which the dressing 1678 includes at least onedressing disposal device 1652 positioned therein or thereon. Thedressing debris disposal device 1652 is configured to capture (e.g.,remove or sequester) at least one substance 1653 (e.g., debrided tissue,foreign matter, or fluids) from the body region 1676. In the illustratedembodiment, the dressing debris disposal device 1652 includes at leastone suction device 1654 that is positioned in or on the dressing 1678.In an embodiment, the suction device 1654 can be the same as orsubstantially similar to the suction device 454 (FIG. 4C). In anembodiment, the suction device 1654 can be different (e.g., larger) thatthe suction device 454. The suction device 1654 can be fluidly coupledto the body region 1676, for example, via a conduit 1638. In anembodiment, the conduit 1638 can extend from a bottommost surface 1694of the dressing 1678 into the body region 1676. The suction device 1654can be fluidly coupled to at least one debris reservoir 1641 positionedin or on the dressing 1678. The debris reservoir 1641 can be configuredto store the at least one substance 1653 that is removed from the bodyregion 1676 using the suction device 1654. The debris reservoir 1641 caninclude, for example, a chamber, a chamber having a negative pressurerelative to the body region 1676, or an absorbent material. In anembodiment, the dressing 1678 can include one or more actuators (notshown) configured to move the conduit 1638 relative to the dressing 1678such that the conduit 1638 removes at least one substance 1653 fromdifferent selected portions of the body region 1676.

In an embodiment, the dressing 1678 includes a controller 1612positioned therein or thereon. The controller 1612 can be communicablycoupled to at least one of the suction device 1654 or the debrisreservoir 1641. The controller 1612 can direct the suction device 1654or the debris reservoir 1641 to controllably remove at least onesubstance 1653 from the body region. In an embodiment, at least one ofthe plurality of robotic debridement apparatuses 1600 can include acontroller 1612′ that is communicably coupled to and configured todirect the operation of the suction device 1654 or the debris reservoir1641.

Referring to FIG. 17, an embodiment of a system 1774 includes a dressing1778 associated with a plurality of robotic debridement apparatuses 1700in which the dressing 1778 includes at least one dressing debrisdisposal device 1752 positioned therein or thereon. For example, thedressing debris disposal device 1752 is configured to capture (e.g.,remove, absorb, or attach thereto) at least one substance 1753 from abody region 1776. In the illustrated embodiment, the dressing debrisdisposal device 1752 includes an absorbent material 1758 positionedtherein or thereon. The absorbent material 1758 can be the same as orsimilar to the absorbent material 458 (FIG. 4F-4G). For example, theabsorbent material 1758 can include a porous material, a wickingmaterial, a woven material, or any other suitable material. In anembodiment, the dressing 1778 can include a suction device (e.g.,suction device 1654 of FIG. 16) coupled to the absorbent material 1758that is configured to increase a rate and an amount of the at least onesubstance 1753 removed, absorbed, or attached to the absorbent material1758. In an embodiment, the absorbent material 1758 can be replaced orused in conjunction with an adhesive material (e.g., adhesive material456 of FIG. 4D-4E). In an embodiment, substantially the entire dressing1778 can be formed from the absorbent material 1758. In an embodiment atleast one layer (e.g., 1080, 1180, or 1280) of the dressing 1778 can beformed from the absorbent material 1758 or the adhesive material.

Referring to FIG. 18, an embodiment of a system 1874 includes a dressing1878 associated with a plurality of robotic debridement apparatuses 1800in which the dressing 1878 is configured to disinfect, sterilize,facilitate healing, or otherwise provide a therapeutic effect to atleast a portion of the body region 1876. For example, the dressing 1878can be configured to disinfect or sterilize unhealthy tissue, healthytissue, damaged tissue (e.g., damaged during the debriding process),tissue uncovered after tissue was debrided, or at least one roboticdebridement apparatus 1800 present in the body region 1876, etc.

In an embodiment, the dressing 1878 can include at least oneenergy-emitting device 1864 positioned in or on the dressing 1878. Theenergy-emitting device 1864 can be substantially similar to theenergy-emitting device 564 (FIG. 5B). For example, the energy-emittingdevice 1864 can emit an energy 1833 towards at least a portion of thebody region thereby disinfecting, sterilizing, facilitate healing, orotherwise providing a therapeutic effect to a portion of the body region1876. For example, the energy 1833 can include light, acoustic energy,electric energy, or thermal energy.

In an embodiment, at least one of the energy-emitting device 1864 iscoupled to one or more actuators (not shown) that are positioned in oron the dressing 1878. The actuators can be configured to controllablymove (e.g., change the direction the energy-emitting device 1864 emitsthe energy 1833, move the energy-emitting device 1864 relative to thedressing 1878, etc.) the energy-emitting device 1864 such that at leastone of the energy-emitting device 1864 controllably disinfects,sterilizes, facilitates healing or otherwise provides a therapeuticeffect to different selected portions of the body region 1876. In anembodiment, the energy-emitting device 1864 or the actuators operateresponsive to directions from a controller (e.g., controller 112 of FIG.1, controller 1112 of FIG. 11A).

Referring to FIG. 19, an embodiment of a system 1974 includes a dressing1978 associated with a plurality of robotic debridement apparatuses 1900in which the dressing 1978 is configured to provide electrical power toat least one of the robotic debridement apparatuses 1900. For example,as previously discussed, the dressing 1978 can include a dressing powersource 1910 positioned in or on the dressing 1978. The dressing powersource 1910 can be coupled to (e.g., electrically coupled to) one ormore components of the system 1974, such as one or more components of atleast one of the robotic debridement apparatuses 1900.

In an embodiment, the dressing power source 1910 can provide theelectrical power to at least one of the robotic debridement apparatuses1900 using wires extending from the dressing 1978 to the at least onerobotic debridement apparatus 1900. In an embodiment, the dressing powersource 1910 can provide the electrical power to at least one of therobotic debridement apparatuses 1900 wirelessly. For example, thedressing power source 1910 can include at least one power storage device1996 that is configured to store electrical power. For example, thepower storage device 1996 can include a battery or a capacitor. Thedressing power source 1910 can include at least one wireless powertransmitter 1997. The wireless power transmitter 1997 can beelectrically coupled to the power storage device 1996. The wirelesspower transmitter 1997 can be configured to receive electrical powerfrom the power storage device 1996 and convert the electrical power intoan energy source that can be transmitted wirelessly from the wirelesspower transmitter 1997 to at least one of the robotic debridementapparatuses 1900.

Each of the robotic debridement apparatuses 1900 configured to receivewireless power from the dressing power source 1910 can include at leastone power receiver 1998. The power receiver 1998 can be positioned in oron the housing 1902 of its respective robotic debridement apparatus1900. The power receiver 1998 is configured to convert the energytransmitted wirelessly from the wireless power transmitter 1997 intoelectrical power.

In an embodiment, the wireless power transmitter 1997 can include atleast one optical energy-emitting device. The optical energy-emittingdevice can include a light-emitting diode, a laser, or another lightemitting source that can convert electrical power to optical energy. Insuch an embodiment, the power receiver 1998 can include a deviceconfigured to convert the optical energy into electrical energy (e.g.,one or more photodiodes).

In an embodiment, the wireless power transmitter 1997 can include atleast one thermal energy-emitting device. The thermal energy-emittingdevice can include an infrared emitting device, an electrical resistiveheater, or another thermal energy-emitting source that can convertelectrical power to thermal energy. In such an embodiment, the powerreceiver 1998 can include one or more devices configured to convert thethermal energy into electrical power (e.g., one or more Peltier cells,one or more thermoelectric materials). In an embodiment, the thermalenergy-emitting device can be configured to emit the thermal energy atan intensity low enough to not significantly damage healthy tissue inthe body region 1976. In an embodiment, the thermal energy-emittingdevice is configured to emit the thermal energy at a location that doesnot include healthy tissue, such as directly at a robotic debridementapparatus 1900.

In an embodiment, the wireless power transmitter 1997 can include amagnetic energy-emitting device. The magnetic energy-emitting device caninclude at least one device configured to convert electrical power tomagnetic energy (e.g., electromagnet). In such an embodiment, the powerreceiver 1998 can include a magnetic-electrical converter (e.g.,induction coil) configured to convert the magnetic energy to electricalpower. For example, the power receiver 1998 can include an RFID tag.

In an embodiment, the wireless power transmitter 1997 can include anyother device configured to convert electrical power into an energysource that can be transmitted wirelessly. For example, the wirelesspower transmitter 1997 can include at least one acoustic energy-emittingdevice (e.g., ultrasonic energy-emitting device, radio-waveenergy-emitting device), at least one resonant inductive couplingdevice, or at least one capacitive coupling device. As such, the powerreceiver 1998 can include a piezoelectric material, coiled wires, anelectrode, or another device configured to convert the energytransmitted from the wireless power transmitter 1997 into electricalpower.

In an embodiment, the dressing 1978 includes a controller 1912 that iscoupled to the dressing power source 1910. For example, the dressingpower source 1910 can provide electrical power to the controller 1912and the controller 1912 can control the operation of the wireless powertransmitter 1997. In an embodiment, the wireless power transmitter canoperate responsive to directions from a controller 1912.

In an embodiment, the wireless power transmitter 1997 can transmit thewireless energy substantially simultaneously to a relatively large areaof the body region 1976. As such, the wireless power transmitter 1997can provide power to any robotic debridement apparatus 1900 positionedwithin the relatively large area. In an embodiment, the wireless powertransmitter 1997 is configured to transmit the wireless energy to arelatively small selected area of the body region 1976 (e.g., beam). Forexample, the dressing 1978 can include one or more sensors 1908configured to detect the position of at least one robotic debridementapparatus 1900 relative to the wireless power transmitter 1997. Thewireless power transmitter 1997 or the controller 1912 can be used todetect the position of the robotic debridement apparatus 1900 totransmit the wireless energy directly to the robotic debridementapparatus 1900. For example, at least one actuator (not shown) coupledto the wireless power transmitter 1997 can move the wireless powertransmitter 1997 relative to the dressing 1978 such that the wirelesspower transmitter 1997 transmits the energy directly the roboticdebridement apparatus 1900. As another example, the wireless powertransmitter 1997 can employ suitable beam steering techniques to directthe wireless energy thereof to the robotic debridement apparatus 1900.As such, substantially only the robotic debridement apparatus 1900receives the wireless energy from the wireless power transmitter 1997which allows the wireless power transmitter 1997 to transmit the energyat higher intensities and with greater efficiencies.

Referring to FIG. 20, an embodiment of a system 2074 includes a dressing2078 associated with a plurality of robotic debridement apparatuses 2000in which the dressing 2078 is configured to move at least one of therobotic debridement apparatuses 2000 relative to the body region 2076.For example, the dressing 2078 includes at least one magneticfield-generating device 2099. The magnetic field generating device 2099can include at least one electromagnet (e.g., electromagnetic coils) oranother suitable magnet. The magnetic field-generating device 2099 cangenerate rotating magnetic fields, time-varying magnetic fields oranother suitable magnetic field.

In the illustrated embodiment, at least one of the robotic debridementapparatuses 2000 includes at least one locomotive mechanism 2004 thatincludes at least one magnet (e.g., neodymium-iron-boron magnet,temporary magnet, electromagnet, etc.). For example, the at least onemagnetic can be part of or attached to a housing of the roboticdebridement apparatuses 2000. The magnetic field generated by themagnetic field-generating device can be configured to move the magnet,thereby moving the at least one robotic debridement apparatus 2000relative to the body region 2076.

In the illustrated embodiment, the dressing 2078 includes a controller2012 that is communicably coupled to the magnetic field-generatingdevice 2099. The controller 2012 can direct the magneticfield-generating device 2099 to controllably generate a magnetic field,thereby controllably moving the at least one robotic debridementapparatus 2000. In an embodiment, the at least one robotic debridementapparatus 2000 can include a controller 2012′ that can direct themagnetic field generating device 2099 to controllably generate amagnetic field.

In an embodiment, the dressing 2078 can be configured to further controlthe movement of at least one of the robotic debridement apparatuses 2000by including an anchor (not shown) that controllably maintains therobotic debridement apparatuses 2000 in substantially the same locationfor a selected period of time. For example, the anchor can include asuction device that controllably suctions at least one of the roboticdebridement apparatuses 2000 to the dressing 2078.

Referring to FIG. 21, an embodiment of a system 2174 includes a dressing2178 associated with a plurality of robotic debridement apparatuses 2100in which the dressing 2178 is configured to at least one of position orremove at least one of the robotic debridement apparatuses 2100 from thebody region 2176. For example, at least one of the robotic debridementapparatuses 2100 can include at least one extraction device 2170. Theextraction device 2170 can be the same as or substantially similar tothe extraction device 770 (FIG. 7). Additionally, the dressing 2178 caninclude at least one retrieval device 2172. The retrieval device 2172can be the same as or substantially similar to the retrieval device 772(FIG. 7). In an embodiment, the extraction device 2170 and the retrievaldevice 2172 are configured so as not to inhibit the housings 2102 of therobotic debridement apparatuses 2100 from being freestanding. In anembodiment, at least one of the robotic debridement apparatuses 2100 canbe permanently coupled to the dressing 2178 via at least one of theretrieval device 2172 or the extraction device 2170.

In an embodiment, the extraction and retrieval devices 2170, 2172 areconfigured to position at least one of the robotic debridementapparatuses 2100 within the body region 2176 when the dressing 2178 isattached to the body region 2176. In an embodiment, the extraction andretrieval devices 2170, 2172 stop interacting with each other (e.g., aredecoupled from each other) during operation of the robotic debridementapparatuses 2100. For example, an electromagnet that forms theextraction or retrieval device 2170, 2172 can be turned off. In anembodiment, the extraction and retrieval devices 2170, 2172 can continueto interact with each other (e.g., remain coupled together) duringoperation of the plurality of robotic debridement apparatuses 2100. Inan embodiment, the extraction and retrieval devices 2170, 2172 areconfigured to remove at least one of the robotic debridement apparatuses200 from the body region 2176 when the dressing 2178 is attached to thebody region 2176. In an embodiment, the extraction or retrieval device2170, 2172 can be configured to controllably maintain at least one ofthe robotic debridement apparatuses 2100 in substantially the samelocation for a selected period of time, for example, when debridingtissue. In such an embodiment, the extraction or retrieval device 2170,2172 can also controllably allow the at least one robotic debridementapparatus 2100 free movement of the body region 2176.

Referring to FIG. 22, an embodiment of a system 2274 includes a dressing2278 associated with a plurality of robotic debridement apparatuses 2200in which at least one robotic debridement apparatus 2200 is directlycoupled (e.g., attached) to the dressing 2278. For example, each of therobotic debridement apparatuses 2200 that are directly coupled to thedressing 2278 can be directly attached to a bottommost surface 2294 ofthe dressing 2278. Each of the robotic debridement apparatuses 2200 thatare directly coupled to the dressing 2278 can be directly coupled to thedressing 2278 using an adhesive, a mechanical fastener (e.g., a screw, abolt, etc.), a hook-and-eye fastener, a thread, a tether, or anotherattachment mechanism. The robotic debridement apparatuses 2200 that aredirectly coupled to the dressing 2278 can still facilitate debridementof the body region 2276. For example, the robotic debridementapparatuses 2200 can extend from the dressing 2278 sufficiently todebride tissue from the body region 2276, can dispense fluids (e.g.,debriding, degrading, or therapeutic agents) into the body region 2276,can travel relative to the body region 2276, etc. For example, therobotic debridement apparatuses 2200 can extend (e.g., connected by atether) a distance from the dressing 2278 that is sufficient to allowthe robotic debridement apparatuses 2200 to travel throughout the bodyregion 2276, debride tissue from the body region 2276, deliver an agentinto or onto the body region 2276, capture a substance from the bodyregion 2276, etc.

In an embodiment, at least one of the robotic debridement apparatuses2200 that is directly coupled to the dressing 2278 can be reversiblycoupled to the dressing 2278. For example, the robotic debridementapparatus 2200 is reversibly coupled when the robotic debridementapparatus 2200 can be attached to the dressing 2278 and detached fromthe dressing 2278 without damaging the robotic debridement apparatus2200 and, optionally, without damaging the dressing 2278. Examples ofreversibly coupling the robotic debridement apparatus 2200 to thedressing 2278 include hook-and-eye attachment, some adhesives, sometapes, magnets, etc. In an embodiment, the robotic debridement apparatus2200 can be reversibly coupled to the dressing 2278 when the roboticdebridement apparatus 2200 is reusable.

Referring back to FIG. 10, in an embodiment, at least one of the first,second, or third robotic debridement apparatuses 1000 a, 1000 b, 1000 ccan include a first association with a dressing (e.g., any of dressings1178, 1278, 1378, 1478, 1578, 1678, 1778, 1878, 1978, 2078, 2178, 2278of FIGS. 11-22), while another of the first, second, or third roboticdebridement apparatuses 1000 a, 1000 b, 1000 c include a secondassociation with the dressing. For example, at least one of the first,second, or third robotic debridement apparatuses 1000 a, 1000 b, 1000 ccan be directly coupled (e.g., attached) to the dressing (FIG. 22),while another of the first, second, or third robotic debridementapparatuses 1000 a, 1000 b, 1000 c can be indirectly coupled (e.g., viaa tether) to the dressing (FIG. 21). In an embodiment, at least one ofthe first, second, or third robotic debridement apparatuses 1000 a, 1000b, 1000 c can be reversibly attached to the dressing (FIG. 21), whileanother of the first, second, or third robotic debridement apparatuses1000 a, 1000 b, 1000 c is substantially permanently attached to thedressing (FIG. 22). In an embodiment, at least one of the first, second,or third robotic debridement apparatuses 1000 a, 1000 b, 1000 c can bepositioned between the body region 1076 and the dressing (FIG. 12). Inan embodiment, at least a portion of the dressing (e.g., a layer) can bepositioned between at least one of the first, second, or third roboticdebridement apparatuses 1000 a, 1000 b, 1000 c and the body region 1076(FIG. 13). In an embodiment, at least one of the first, second, or thirdrobotic debridement apparatuses 1000 a, 1000 b, 1000 c can be positionedbetween the body region 1076 and the dressing, while the dressing can bepositioned between another of the first, second, or third roboticdebridement apparatuses 1000 a, 1000 b, 1000 c and the body region 1076.In another instance, at least one of the first, second, or third roboticdebridement apparatuses 1000 a, 1000 b, 1000 c can be communicablycoupled to the dressing (via transceiver 1124′ of FIG. 11A), whileanother of the first, second, or third robotic debridement apparatuses1000 a, 1000 b, 1000 c is not coupled to the dressing.

G. Methods of Using the Robotic Debridement Systems

FIG. 23 is a flow diagram of a method 2300 of using any of the systemsdisclosed herein according to an embodiment. In an embodiment, some ofthe acts of the method 2300 can be split into a plurality of acts, someof the acts can be combined into a single act, and some acts can beomitted. Also, it is understood that additional acts can be added to themethod 2300.

Act 2305 includes positioning a plurality of robotic debridementapparatuses at or near a body region including at least one targettissue. The plurality of robotic debridement apparatuses, except asotherwise described herein, can be similar to or the same as the roboticdebridement apparatuses 100, 200 a-g, 300 a-o, 400 a-j, 500 a-b, 600,700, 1000 (FIGS. 1-7 and 10) and their respective materials, components,or elements. For example, the plurality of robotic debridementapparatuses can include a housing, at least one locomotive mechanismpositioned in or on the housing, and at least one of at least onedebriding tool or at least one debris disposal device. In an embodiment,at least one of the plurality of robotic debridement apparatusespositioned over the body region can include at least one of a sensor, acontroller, a power source, a therapeutic device, a marking device, oran extraction device.

In an embodiment, disposing plurality of robotic debridement apparatusesat or near a wound region including a wound can include using anextraction device or retrieval device to position at least one of theplurality of robotic debridement apparatuses. For example, disposingplurality of robotic debridement apparatuses at or near a wound regionincluding a wound can include placing at least one of the plurality ofrobotic debridement apparatuses over, into, or onto the body regionusing a extraction device or retrieval device to position. In anembodiment, disposing plurality of robotic debridement apparatuses at ornear a wound region including a wound can include another method ofdisposing at least one of the plurality of robotic debridementapparatuses over the body region.

Act 2310 includes reversibly attaching a dressing associated with theplurality of robotic debridement apparatuses to the body region. Exceptas otherwise described herein, the dressing can be similar to or thesame as the dressings 1178, 1278, 1378, 1478, 1578, 1678, 1778, 1878,1978, 2078, 2178, 2278 (FIGS. 11A-22) and their respective materials,components, or elements. For example, the dressing can include at leastone layer that at least partially encloses the body region or at leastone of the robotic debridement apparatuses. In an embodiment, thedressing can be configured to be a confinement dressing or a containmentdressing.

In an embodiment, act 2305 is performed before act 2310. For example,the plurality of robotic debridement apparatuses are disposed directlyin the body region before the dressing is reversibly attached to thebody region (e.g., the plurality of robotic debridement apparatuses arepositioned between the wound and the dressing). In an embodiment, act2310 is performed before act 2305. For example, the dressing isreversibly attached to the body region and the plurality of roboticdebridement apparatuses are then positioned over the dressing (e.g., thedressing is positioned between the wound and the plurality of roboticdebridement apparatuses). In an embodiment, the act 2305 and act 2310are performed substantially simultaneously. For example, the pluralityof robotic debridement apparatuses are positioned in or on the dressing(e.g., in a containment region) before the dressing is reversiblyattached to the body region. Therefore, reversibly attaching thedressing to the body region also disposes the plurality of roboticdebridement apparatuses at the body region. In an embodiment, therobotic debridement apparatuses are coupled to the dressing such thatreversibly attaching the dressing to the body region also positions therobotic debridement apparatuses in the body region. In an embodiment,the act 2305 is performed substantially simultaneously with and at leastone of before or after act 2310. For example, at least one of theplurality of robotic debridement apparatuses is positioned in or on thedressing. Therefore, reversibly attaching the dressing to the bodyregion also disposes the at least one of the plurality of roboticdebridement apparatuses at the body region. However, the remainingrobotic debridement apparatuses are disposed at or near the body regionbefore (e.g., directly into the body region) or after (e.g., on thedressing) the dressing is reversibly attached to the body region.

Act 2315 includes, via the at least one debriding tool, debriding the atleast one target tissue present within the body region. In anembodiment, the tissue present in the body region is debrided insubstantially the same manner as described in act 810 of method 800(FIG. 8). For example, at least one of the plurality of roboticdebridement apparatuses can include at least one debriding tool thatdebrides tissue from the body region. In an embodiment, the tissue isdebrided using the dressing. For example, the dressing can be configuredto dispense one or more debriding agents into the body region. In anembodiment, the tissue can be debrided by a user (e.g., physician)using, for example, a curette, a scalpel, or another device. Forexample, the tissue can first be debrided by a user and at least one ofrobotic debridement apparatuses includes a debris disposal device thatcaptures debris from the body region. The user can insert the devicethrough an opening (e.g., opening 1186 of FIGS. 11A-11B) defined by thedressing. In an embodiment, the tissue can be debrided using one or moremaggots applied to the body region. For example, tissue in the bodyregion can be debrided by at least one robotic debridement apparatushaving a debriding tool, and one or more maggots can subsequently beapplied to the body region for a specific (e.g., longer) time period toconsume debrided tissue and debris.

In an embodiment, the method 2300 can include selecting the plurality ofrobotic debridement apparatuses from a variety of robotic debridementapparatuses. For example, the variety of robotic debridement apparatusescan include at least two different types of robotic debridementapparatuses (e.g., different functionality, size, etc.). The pluralityof robotic debridement apparatuses can be selected based on the size ofthe body region, the tissue to be debrided, the type of dressing used,etc.

In an embodiment, the method 2300 can include coupling at least one ofthe plurality of robotic debridement apparatuses to the dressing. In anembodiment, at least one of the plurality of robotic debridingapparatuses include at least one extraction device (e.g., extractiondevice 2170 of FIG. 21), and the dressing includes at least oneretrieval device (e.g., retrieval device 2172 of FIG. 21). Theextraction and retrieval device can be coupled together. In anembodiment, at least one of the plurality of robotic debridementapparatuses is directly coupled (e.g., attached) to the dressing usingan adhesive, a mechanical fastener, or another attachment mechanism.

In an embodiment, the method 2200 can include the dressing dispensingone or more fluids into the body region. In an embodiment, the dressingis configured to dispense the fluids using a passive fluid deliverysystem. The passive fluid delivery system can include plurality ofregions (e.g., regions 1492 of FIG. 14) that include the fluids therein.The regions can dispense the fluids using gravity, pressure between thedressing and the body region, etc. In an embodiment, the dressing isconfigured to dispense the fluids using an active fluid delivery system.The active fluid delivery system can deliver the fluids by actuating aplurality of actuators that are operably coupled to a fluid source(e.g., at least one of the fluid reservoir 1535 or fluid-dispenseelement 1536 of FIG. 15). The fluids dispensed from the dressing caninclude one or more debriding agents, one or more therapeutic agents,one or more taggants, or another fluid-disclosed herein. In someembodiments, the dressing can dispense the fluids into the body regionresponsive to direction from a controller (e.g., controller 112 of FIG.1, controller 1112 of FIG. 11A).

In an embodiment, the method 2300 can include the dressing disposing ofat least one substance (e.g., debriding tissue, foreign matter, orfluids) present in the body region. For example, the dressing candispense one or more debriding agents into the body region. In anembodiment, the dressing removes the at least one substance from thebody region. For example, the dressing can suction the at least onesubstance from the body region (e.g., using the suction device 1654 ofFIG. 16) and store the removed substances in a debris reservoir. In anembodiment, the dressing can attach thereto (e.g., absorb, wick, adhere)the at least one substance from the body region. For instance, thedressing can attach the at least one substance from the body regionthereto using an absorbent material (e.g., using absorbent material 1758of FIG. 17) positioned therein or thereon. The dressing can controllablycapture the at least one substance in the body region responsive todirection from a controller (e.g., controller 112 of FIG. 1, controller1112 of FIG. 11A).

In an embodiment, the method 2300 can include the dressing providing atherapeutic effect to the body region. For example, the dressing candispense one or more therapeutic agents into the body region. In anotherexample, the dressing can stimulate at least a portion of the bodyregion using light, acoustic energy, electrical energy, or thermalenergy (e.g., using the energy-emitting device 1864 of FIG. 18), therebyat least one of disinfecting, sterilizing, facilitating healing of, orotherwise providing a therapeutic effect to the body region. Thedressing can controllably provide a therapeutic effect to the bodyregion using a controller (e.g., controller 112 of FIG. 1, controller1112 of FIG. 11A).

In an embodiment, the method 2300 can include the dressing sensing oneor more characteristics of the body region using one or more sensorspositioned therein or thereon (e.g., sensors 1108 of FIG. 11A). Forexample, the sensors can detect the presence, location, quantity, etc.of viable tissue or nonviable tissue. The sensors can transmit one ormore sensing signals that include the detected characteristics encodedtherein to one or more components of the system. The dressing can senseone or more characteristics of the body region and transmit the sensingsignals responsive to direction from a controller (e.g., controller 112of FIG. 1, controller 1112 of FIG. 11A).

In an embodiment, the method 2300 can include controlling the operationof one or more components of the system using a controller positioned inor on the dressing (e.g., controller 1112 of FIG. 11A). For example, thecontroller can control the operation of the one or more components ofthe system responsive to receiving the sensing signals from the sensors.In an embodiment, the controller can control the operation of one ormore components of the dressing. For example, the dressing can dispenseone or more fluids, capture at least one substance present in the bodyregion, provide a therapeutic effect to the body region, or otherwiseoperate responsive to direction from the controller. In another example,at least one of the robotic debridement apparatuses can at least one oftravel relative to the body region, debride tissue, capture at least onesubstance in the body region, provide a therapeutic effect to the bodyregion, or otherwise operate responsive to direction from thecontroller.

In an embodiment, the method 2300 can include providing power from thedressing to at least one of the robotic debridement apparatuses. In anembodiment, the dressing can wiredly provide electrical power to anyrobotic debridement apparatus. In an embodiment, the dressing canwirelessly provide electrical power to at least one of the roboticdebridement apparatus. For example, the dressing can include a dressingpower source (e.g., dressing power source 1910 of FIG. 19) that includesa power storage device (e.g., power storage device 1996 of FIG. 19) anda wireless power transmitter (e.g., wireless power transmitter 1997 ofFIG. 19). In such an example, the wireless power transmitter can receiveelectrical power stored in the power storage device and convert theelectrical power into an energy that can be transmitted wirelessly. Thewireless power transmitter can then wirelessly transmit the energy to atleast one robotic debridement apparatus that includes a power receiver(e.g., power receiver 1998 of FIG. 19). The power receiver can thenconvert the received energy into electrical power. The dressing cancontrollably provide power to at least one of the robotic debridementapparatuses responsive to direction from a controller (e.g., controller112 of FIG. 1, controller 1112 of FIG. 11A).

In an embodiment, the method 2300 can include the dressing removing atleast one of the robotic debridement apparatuses from the body regionwhen the dressing is removed from the body region. In an embodiment, atleast one of robotic debridement apparatuses can be directly coupled tothe dressing. In an embodiment, at least one of the robotic debridementapparatuses are coupled to the dressing using an extraction device and aretrieval device. For example, the extraction and retrieval devices canbe coupled together responsive to direction from a controller (e.g.,controller 112 of FIG. 1, controller 1112 of FIG. 11A). In anembodiment, at least one of the robotic debridement apparatuses can beremoved manually (e.g., by a user) from the body region.

In an embodiment, the method 2300 can include the dressing moving atleast one of the robotic debridement apparatuses within the body region.For example, the dressing can include a magnetic field generating device(e.g., magnetic field generating device 2099 of FIG. 20) and at leastone of the robotic debridement apparatuses includes at least onelocomotive mechanism comprising a magnet (e.g., locomotive mechanism2004 of FIG. 20). The magnetic field generating device can controllablygenerate a magnetic field that is configured to controllably move the atleast one robotic debridement apparatus within the body region. Forinstance, the magnetic field generating device can controllably generatea magnetic field responsive to direction from a controller (e.g.,controller 112 of FIG. 1, controller 1112 of FIG. 11A)

In an embodiment, the method 2300 can include any of the optionaladditional acts disclosed in methods 800 and 900 (FIGS. 8-9).

The reader will recognize that the state of the art has progressed tothe point where there is little distinction left between hardware andsoftware implementations of aspects of systems; the use of hardware orsoftware is generally (but not always, in that in certain contexts thechoice between hardware and software can become significant) a designchoice representing cost vs. efficiency tradeoffs. The reader willappreciate that there are various vehicles by which processes and/orsystems and/or other technologies described herein can be effected(e.g., hardware, software, and/or firmware), and that the preferredvehicle will vary with the context in which the processes and/or systemsand/or other technologies are deployed. For example, if an implementerdetermines that speed and accuracy are paramount, the implementer canopt for a mainly hardware and/or firmware vehicle; alternatively, ifflexibility is paramount, the implementer can opt for a mainly softwareimplementation; or, yet again alternatively, the implementer can opt forsome combination of hardware, software, and/or firmware. Hence, thereare several possible vehicles by which the processes and/or devicesand/or other technologies described herein can be effected, none ofwhich is inherently superior to the other in that any vehicle to beutilized is a choice dependent upon the context in which the vehiclewill be deployed and the specific concerns (e.g., speed, flexibility, orpredictability) of the implementer, any of which can vary. The readerwill recognize that optical aspects of implementations will typicallyemploy optically-oriented hardware, software, and or firmware.

The foregoing detailed description has set forth various embodiments ofthe devices and/or processes via the use of block diagrams, flowcharts,and/or examples. Insofar as such block diagrams, flowcharts, and/orexamples contain one or more functions and/or operations, it will beunderstood by those within the art that each function and/or operationwithin such block diagrams, flowcharts, or examples can be implemented,individually and/or collectively, by a wide range of hardware, software,firmware, or virtually any combination thereof. In an embodiment,several portions of the subject matter described herein can beimplemented via Application Specific Integrated Circuits (ASICs), FieldProgrammable Gate Arrays (FPGAs), digital signal processors (DSPs), orother integrated formats. However, those skilled in the art willrecognize that some aspects of the embodiments disclosed herein, inwhole or in part, can be equivalently implemented in integratedcircuits, as one or more computer programs running on one or morecomputers (e.g., as one or more programs running on one or more computersystems), as one or more programs running on one or more processors(e.g., as one or more programs running on one or more microprocessors),as firmware, or as virtually any combination thereof, and that designingthe circuitry and/or writing the code for the software and or firmwarewould be well within the skill of one of skill in the art in light ofthis disclosure. In addition, the reader will appreciate that themechanisms of the subject matter described herein are capable of beingdistributed as a program product in a variety of forms, and that anillustrative embodiment of the subject matter described herein appliesregardless of the particular type of signal bearing medium used toactually carry out the distribution. Examples of a signal bearing mediuminclude, but are not limited to, the following: a recordable type mediumsuch as a floppy disk, a hard disk drive, a Compact Disc (CD), a DigitalVideo Disk (DVD), a digital tape, a computer memory, etc.; and atransmission type medium such as a digital and/or an analogcommunication medium (e.g., a fiber optic cable, a waveguide, a wiredcommunications link, a wireless communication link, etc.).

In a general sense, the various embodiments described herein can beimplemented, individually and/or collectively, by various types ofelectro-mechanical systems having a wide range of electrical componentssuch as hardware, software, firmware, or virtually any combinationthereof; and a wide range of components that can impart mechanical forceor motion such as rigid bodies, spring or torsional bodies, hydraulics,and electro-magnetically actuated devices, or virtually any combinationthereof. Consequently, as used herein “electro-mechanical system”includes, but is not limited to, electrical circuitry operably coupledwith a transducer (e.g., an actuator, a motor, a piezoelectric crystal,etc.), electrical circuitry having at least one discrete electricalcircuit, electrical circuitry having at least one integrated circuit,electrical circuitry having at least one application specific integratedcircuit, electrical circuitry forming a general purpose computing deviceconfigured by a computer program (e.g., a general purpose computerconfigured by a computer program which at least partially carries outprocesses and/or devices described herein, or a microprocessorconfigured by a computer program which at least partially carries outprocesses and/or devices described herein), electrical circuitry forminga memory device (e.g., forms of random access memory), electricalcircuitry forming a communications device (e.g., a modem, communicationsswitch, or optical-electrical equipment), and any non-electrical analogthereto, such as optical or other analogs. Those skilled in the art willalso appreciate that examples of electro-mechanical systems include butare not limited to a variety of consumer electrical systems, as well asother systems such as motorized transport systems, factory automationsystems, security systems, and communication/computing systems. Thoseskilled in the art will recognize that electro-mechanical as used hereinis not necessarily limited to a system that has both electrical andmechanical actuation except as context can dictate otherwise.

In a general sense, the various aspects described herein which can beimplemented, individually and/or collectively, by a wide range ofhardware, software, firmware, or any combination thereof can be viewedas being composed of various types of “electrical circuitry.”Consequently, as used herein “electrical circuitry” includes, but is notlimited to, electrical circuitry having at least one discrete electricalcircuit, electrical circuitry having at least one integrated circuit,electrical circuitry having at least one application specific integratedcircuit, electrical circuitry forming a computing device configured by acomputer program (e.g., a general purpose computer configured by acomputer program which at least partially carries out processes and/ordevices described herein, or a microprocessor configured by a computerprogram which at least partially carries out processes and/or devicesdescribed herein), electrical circuitry forming a memory device (e.g.,forms of random access memory), and/or electrical circuitry forming acommunications device (e.g., a modem, communications switch, oroptical-electrical equipment). The subject matter described herein canbe implemented in an analog or digital fashion or some combinationthereof.

This disclosure has been made with reference to various exampleembodiments. However, those skilled in the art will recognize thatchanges and modifications can be made to the embodiments withoutdeparting from the scope of the present disclosure. For example, variousoperational steps, as well as components for carrying out operationalsteps, can be implemented in alternate ways depending upon theparticular application or in consideration of any number of costfunctions associated with the operation of the system; e.g., one or moreof the steps can be deleted, modified, or combined with other steps.

Additionally, as will be appreciated by one of ordinary skill in theart, principles of the present disclosure, including components, can bereflected in a computer program product on a computer-readable storagemedium having computer-readable program code means embodied in thestorage medium. Any tangible, non-transitory computer-readable storagemedium can be utilized, including magnetic storage devices (hard disks,floppy disks, and the like), optical storage devices (CD-ROMs, DVDs,Blu-ray discs, and the like), flash memory, and/or the like. Thesecomputer program instructions can be loaded onto a general purposecomputer, special purpose computer, or other programmable dataprocessing apparatus to produce a machine, such that the instructionsthat execute on the computer or other programmable data processingapparatus create a means for implementing the functions specified. Thesecomputer program instructions can also be stored in a computer-readablememory that can direct a computer or other programmable data processingapparatus to function in a particular manner, such that the instructionsstored in the computer-readable memory produce an article ofmanufacture, including implementing means that implement the functionspecified. The computer program instructions can also be loaded onto acomputer or other programmable data processing apparatus to cause aseries of operational steps to be performed on the computer or otherprogrammable apparatus to produce a computer-implemented process, suchthat the instructions that execute on the computer or other programmableapparatus provide steps for implementing the functions specified.

In an embodiment, the robotic debriding apparatuses or related systemsdisclosed herein can be integrated in such a manner that the roboticdebriding apparatuses or related systems operate as a unique systemconfigured specifically for function of facilitating debridement oftissue from a body region and any associated computing devices of therobotic debriding apparatuses or related systems operate as specific usecomputers for purposes of the claimed system, and not general usecomputers. In an embodiment, at least one associated computing device ofthe robotic debriding apparatuses or related systems operate as specificuse computers for purposes of the claimed system, and not general usecomputers. In an embodiment, at least one of the associated computingdevices of the robotic debriding apparatuses or related systems arehardwired with a specific ROM to instruct the at least one computingdevice. In an embodiment, one of skill in the art recognizes that therobotic debriding apparatuses or related systems effects an improvementat least in the technological field of facilitating debridement oftissue from a wound region.

The herein described components (e.g., steps), devices, and objects andthe discussion accompanying them are used as examples for the sake ofconceptual clarity. Consequently, as used herein, the specific exemplarsset forth and the accompanying discussion are intended to berepresentative of their more general classes. In general, use of anyspecific exemplar herein is also intended to be representative of itsclass, and the non-inclusion of such specific components (e.g., steps),devices, and objects herein should not be taken as indicating thatlimitation is desired.

With respect to the use of substantially any plural and/or singularterms herein, the reader can translate from the plural to the singularand/or from the singular to the plural as is appropriate to the contextand/or application. The various singular/plural permutations are notexpressly set forth herein for sake of clarity.

The herein described subject matter sometimes illustrates differentcomponents contained within, or connected with, different othercomponents. It is to be understood that such depicted architectures aremerely exemplary, and that in fact many other architectures can beimplemented which achieve the same functionality. In a conceptual sense,any arrangement of components to achieve the same functionality iseffectively “associated” such that the desired functionality isachieved. Hence, any two components herein combined to achieve aparticular functionality can be seen as “associated with” each othersuch that the desired functionality is achieved, irrespective ofarchitectures or intermedial components. Likewise, any two components soassociated can also be viewed as being “operably connected,” or“operably coupled,” to each other to achieve the desired functionality,and any two components capable of being so associated can also be viewedas being “operably couplable,” to each other to achieve the desiredfunctionality. Specific examples of operably couplable include but arenot limited to physically mateable and/or physically interactingcomponents and/or wirelessly interactable and/or wirelessly interactingcomponents and/or logically interacting and/or logically interactablecomponents.

In some instances, one or more components can be referred to herein as“configured to.” The reader will recognize that “configured to” cangenerally encompass active-state components and/or inactive-statecomponents and/or standby-state components, unless context requiresotherwise.

While particular aspects of the present subject matter described hereinhave been shown and described, it will be apparent to those skilled inthe art that, based upon the teachings herein, changes and modificationscan be made without departing from the subject matter described hereinand its broader aspects and, therefore, the appended claims are toencompass within their scope all such changes and modifications as arewithin the true spirit and scope of the subject matter described herein.Furthermore, it is to be understood that the invention is defined by theappended claims. In general, terms used herein, and especially in theappended claims (e.g., bodies of the appended claims) are generallyintended as “open” terms (e.g., the term “including” should beinterpreted as “including but not limited to,” the term “having” shouldbe interpreted as “having at least,” the term “includes” should beinterpreted as “includes but is not limited to,” etc.). It will befurther understood by those within the art that if a specific number ofan introduced claim recitation is intended, such an intent will beexplicitly recited in the claim, and in the absence of such recitationno such intent is present. For example, as an aid to understanding, thefollowing appended claims can contain usage of the introductory phrases“at least one” and “one or more” to introduce claim recitations.However, the use of such phrases should not be construed to imply thatthe introduction of a claim recitation by the indefinite articles “a” or“an” limits any particular claim containing such introduced claimrecitation to inventions containing only one such recitation, even whenthe same claim includes the introductory phrases “one or more” or “atleast one” and indefinite articles such as “a” or “an” (e.g., “a” and/or“an” should typically be interpreted to mean “at least one” or “one ormore”); the same holds true for the use of definite articles used tointroduce claim recitations. In addition, even if a specific number ofan introduced claim recitation is explicitly recited, such recitationshould typically be interpreted to mean at least the recited number(e.g., the bare recitation of “two recitations,” without othermodifiers, typically means at least two recitations, or two or morerecitations). Furthermore, in those instances where a conventionanalogous to “at least one of A, B, and C, etc.” is used, in generalsuch a construction is intended in the sense the convention (e.g., “asystem having at least one of A, B, and C” would include but not belimited to systems that have A alone, B alone, C alone, A and Btogether, A and C together, B and C together, and/or A, B, and Ctogether, etc.). In those instances where a convention analogous to “atleast one of A, B, or C, etc.” is used, in general such a constructionis intended in the sense the convention (e.g., “a system having at leastone of A, B, or C” would include but not be limited to systems that haveA alone, B alone, C alone, A and B together, A and C together, B and Ctogether, and/or A, B, and C together, etc.). Virtually any disjunctiveword and/or phrase presenting two or more alternative terms, whether inthe description, claims, or drawings, should be understood tocontemplate the possibilities of including one of the terms, either ofthe terms, or both terms. For example, the phrase “A or B” will beunderstood to include the possibilities of “A” or “B” or “A and B.”

With respect to the appended claims, the recited operations therein cangenerally be performed in any order. Examples of such alternateorderings can include overlapping, interleaved, interrupted, reordered,incremental, preparatory, supplemental, simultaneous, reverse, or othervariant orderings, unless context dictates otherwise. With respect tocontext, even terms like “responsive to,” “related to,” or otherpast-tense adjectives are generally not intended to exclude suchvariants, unless context dictates otherwise.

While various aspects and embodiments have been disclosed herein, thevarious aspects and embodiments disclosed herein are for purposes ofillustration and are not intended to be limiting, with the true scopeand spirit being indicated by the following claims.

What is claimed is:
 1. A robotic debridement system, comprising: aplurality of robotic debridement apparatuses, at least one of theplurality of robotic debridement apparatuses including a housing; and atleast one debriding tool associated with the housing; and a dressingassociated with the at least one of the plurality of robotic debridementapparatuses, the dressing including at least one layer that at leastpartially encloses the at least one of the plurality of roboticdebridement apparatuses.
 2. The robotic debridement system of claim 1,wherein the at least one layer extends completely laterally about a bodyregion.
 3. The robotic debridement system of claim 1, wherein the atleast one layer extends generally upwardly therefrom for a selecteddistance.
 4. The robotic debridement system of claim 1, wherein the atleast one of the plurality of robotic debridement apparatuses ispositionable between the at least one layer and a body region.
 5. Therobotic debridement system of claim 1, wherein the at least one layer ispositionable between the at least one of the plurality of roboticdebridement apparatuses and a body region.
 6. The robotic debridementsystem of claim 5, wherein the at least one layer includes a first layerand a second layer, and the at least one of the plurality of roboticdebridement apparatuses is positioned between the first layer and thesecond layer.
 7. The robotic debridement system of claim 5, wherein theat least one layer at least partially defines a containment region thatat least partially encloses the at least one of the plurality of roboticdebridement apparatuses therein.
 8. The robotic debridement system ofclaim 5, wherein the at least one layer defines a plurality of aperturestherein, the plurality of apertures each exhibiting a size that permitsthe at least one of the plurality of robotic debridement apparatuses tobe in physical contact with the body region while substantiallypreventing the at least one of the plurality of robotic debridementapparatuses from passing therethrough.
 9. The robotic debridement systemof claim 1, wherein the at least one layer includes a first layer and asecond layer that differs in composition from the first layer.
 10. Therobotic debridement system of claim 1, wherein the at least one layer isat least semi-permeable to gas.
 11. The robotic debridement system ofclaim 1, wherein the at least one layer includes at least one of rayon,nylon, chiffon, gauze, hydrocolloid, hydrogel, alginate, collagen,hydrofiber dressing, polyvinyl film dressing, or polyurethane.
 12. Therobotic debridement system of claim 1, wherein one or more of theplurality of robotic debridement apparatuses is directly coupled to thedressing.
 13. The robotic debridement system of claim 1, wherein one ormore of the plurality of robotic debridement apparatuses is indirectlycoupled to the dressing.
 14. The robotic debridement system of claim 1,wherein one or more of the plurality of robotic debridement apparatusesis coupled to the dressing by a tether.
 15. The robotic debridementsystem of claim 1, wherein the dressing includes a plurality of regions,the plurality of regions having at least one of one or more fluids, oneor more gels, or one or more hydrogels therein, the plurality of regionsof the dressing fluidly coupleable to a body region.
 16. The roboticdebridement system of claim 15, wherein the plurality of regionsincludes at least one fluid reservoir having at least one of the one ormore fluids, the one or more gels, or the one or more hydrogels therein;and at least one fluid dispense element fluidly coupled to the at leastone fluid reservoir, the at least one fluid dispense element includingat least one dispense aperture.
 17. The robotic debridement system ofclaim 15, wherein at least one of the at least one fluid reservoir orthe at least one fluid dispense element is operably coupled to one ormore actuators, the one or more actuators configured to dispense atleast one of the one or more fluids, the one or more gels, or the one ormore hydrogels into the body region.
 18. The robotic debridement systemof claim 15, wherein at least one of the one or more fluids, the one ormore gels, or the one or more hydrogels includes at least one of one ormore lytic agents or one or more enzymatic agents.
 19. The roboticdebridement system of claim 15, wherein at least one of the one or morefluids, the one or more gels, or the one or more hydrogels includes atleast one of one or more anaesthetics, one or more antibiotics, one ormore antimicrobials, one or more antimicrobial peptides, one or moredefensins, one or more antiseptic agents, one or more irrigation fluids,one or more taggants, one or more medicaments, one or more cytokines,one or more growth factors, one or more vitamins, one or more minerals,or collagen.
 20. The robotic debridement system of claim 1, wherein thedressing includes at least one dressing debris disposal devicepositioned in or on the dressing, the at least one dressing debrisdisposal device configured to capture at least one substance from a bodyregion.
 21. The robotic debridement system of claim 20, wherein the atleast one dressing debris disposal device includes at least oneabsorbent material.
 22. The robotic debridement system of claim 20,wherein the at least one dressing debris disposal device includes atleast one conduit positioned in on or the dressing and in fluidcommunication with a body region; and a suction device positioned in oron the dressing, the suction device operably coupled to the at least oneconduit and the at least one debris reservoir.
 23. The roboticdebridement system of claim 1, wherein the dressing includes at leastone therapeutic device positioned in or on the dressing, the at leastone therapeutic device including at least one of at least onetherapeutic agent reservoir positioned in or on the dressing andoperably coupled to at least one therapeutic-dispense element, the atleast one therapeutic-dispense element including at least onetherapeutic-dispense aperture; or at least one energy-emitting device.24. The robotic debridement system of claim 1, wherein the dressingincludes a controller operably coupled to one or more components of therobotic debridement system.
 25. The robotic debridement system of claim24, further including one or more sensors operably coupled to thecontroller.
 26. The robotic debridement system of claim 25, wherein theone or more sensors are positioned in or on the dressing.
 27. Therobotic debridement system of claim 25, wherein the one or more sensorsare positioned in or on the housing of one or more of the plurality ofrobotic debridement apparatuses.
 28. The robotic debridement system ofclaim 25, wherein the one or more sensors include one or more of atleast one chemical sensor, at least one thermal sensor, at least onemoisture sensor, at least one electrical conductivity sensor, at leastone optical sensor, or at least one acoustic sensor.
 29. The roboticdebridement system of claim 24, wherein the controller includes atransceiver that is wiredly or wirelessly communicably coupled to one ormore of the plurality of robotic debridement apparatuses.
 30. Therobotic debridement system of claim 24, wherein the controller includes,at least one of non-transitory memory configured to store one or moreoperational instructions thereon or a transceiver; and a processoroperably coupled to the non-transitory memory or the transceiver. 31.The robotic debridement system of claim 1, wherein the plurality ofrobotic debridement apparatuses include at least one first roboticdebridement apparatus including a first controller, the first controllerincluding a first transceiver; and at least one second roboticdebridement apparatus including a second transceiver communicablycoupled to the first transceiver; wherein the first controller isconfigured to at least partially control the operation of one or morecomponents of the at least one first robotic debridement apparatus andthe at least one second robotic debridement apparatus.
 32. The roboticdebridement system of claim 31, wherein the at least one second roboticdebridement apparatus includes a second controller, the secondcontroller including the second transceiver; wherein the secondcontroller is configured to at least partially control the operation ofone or more components of the at least one first robotic debridementapparatus and the at least one second robotic debridement apparatus. 33.The robotic debridement system of claim 31, wherein the at least onefirst robotic debridement apparatus includes one or more sensorsoperably coupled thereto and operably coupled to the first controller,wherein the first controller at least partially controls the operationof the one or more components of the at least one first roboticdebridement apparatus and the at least one second robotic debridementapparatus responsive to receiving one or more sensing signals from theone or more sensors.
 34. The robotic debridement system of claim 31,wherein the at least one second robotic debridement apparatus includesone or more sensors operably coupled to the first controller via thefirst and second transceivers, wherein the first controller at leastpartially controls the operation of one or more components of the atleast one first robotic debridement apparatus or the at least one secondrobotic debridement apparatus responsive to receiving one or moresensing signals from the one or more sensors.
 35. The roboticdebridement system of claim 1, wherein the dressing includes a dressingpower source positioned in or on the dressing, the dressing power sourceoperably coupled to one or more components of the robotic debridementsystem.
 36. The robotic debridement system of claim 35, wherein one ormore of the plurality of robotic debridement apparatuses includes apower receiver configured to receive wireless power from the dressingpower source.
 37. The robotic debridement system of claim 35, whereinone or more of the plurality of robotic debridement apparatuses includesa power receiver that is physically coupled to and receives power fromthe dressing power source.
 38. The robotic debridement system of claim1, wherein one or more of the plurality of robotic debridementapparatuses includes at least one debris disposal device positioned inor on a housing thereof.
 39. The robotic debridement system of claim 38,wherein the one or more of the plurality of robotic debridementapparatuses includes the at least one of the plurality of roboticdebridement apparatuses.
 40. The robotic debridement system of claim 38,wherein the at least one debris disposal device includes at least one ofan adhesive material; an absorbent material; a suction device; or adebris reservoir.
 41. The robotic debridement system of claim 1, whereinthe at least one debriding tool includes at least one of at least oneblade, the at least one blade including one or more sharp cutting toolsor one or more scraping tools; one or more protrusions; or at least oneabrasive material positioned on at least a portion of an outer surfaceof the housing or a portion of the at least one debriding tool.
 42. Therobotic debridement system of claim 1, wherein the at least onedebriding tool includes an energy-emitting device configured to emitacoustic energy or electromagnetic energy.
 43. The robotic debridementsystem of claim 1, wherein the at least one debriding tool is configuredto debride at least one target tissue.
 44. The robotic debridementsystem of claim 1, wherein one or more of the plurality of roboticdebridement apparatuses include at least one locomotive mechanismpositioned in or on a housing thereof, the at least one locomotivemechanism configured to generate a locomotive force.
 45. The roboticdebridement system of claim 44, wherein the at least one locomotivemechanism includes a vibratory mechanism, at least one impellingmechanism, a piezoelectric actuator, a shape memory alloy actuator, anionic polymer metal component, or an expandable bellows.
 46. The roboticdebridement system of claim 44, wherein the dressing includes at leastone magnetic field-generating device, and the at least one locomotivemechanism of the one or more of the plurality of robotic debridementapparatuses includes a magnet, wherein the at least one magneticfield-generating device is configured to generate a magnetic field thatcontrollably moves the one or more of the plurality of roboticdebridement apparatuses from a first location to a second location. 47.The robotic debridement system of claim 1, wherein one or more of theplurality of robotic debridement apparatuses includes at least oneextraction device positioned in or on a housing thereof; and thedressing includes at least one retrieval device positioned in or on thedressing, the at least one retrieval device being coupleable to each ofthe at least one extraction device of the one or more of the pluralityof robotic debridement apparatuses.
 48. The robotic debridement systemof claim 47, wherein the at least one extraction device includes atleast one of a magnet, a magnetically attractable material, a protrudingelement extending outwardly from the housing, or an attachment location;and the at least one retrieval device includes at least one of a magnet,a magnetically attractable material, forceps, a hook, or a tethercoupled to the attachment location.
 49. The robotic debridement systemof claim 1, further including, at least one taggant reservoir positionedin or on a housing of one or more of the plurality of roboticdebridement apparatuses, the at least one taggant reservoir configuredto store one or more taggants therein; and at least one taggant dispenseelement operably coupled to the at least one taggant reservoir, the atleast one taggant dispense element including at least one taggantdispense aperture.
 50. The robotic debridement system of claim 49,wherein the one or more taggants indicate at least one path of the oneor more of the plurality of robotic debridement apparatuses, a locationwhere the at least one debriding tool was used, one or more types oftissue, one or more cell types, one or more microbes, or one or moretypes of debris.
 51. The robotic debridement system of claim 1, whereinthe plurality of robotic debridement apparatuses include at least onefirst robotic debridement apparatus and at least one second roboticdebridement apparatus different from the at least one first roboticdebridement apparatus in at least one of functionality, size, geometry,locomotive mechanism, or association with the dressing.
 52. A roboticdebridement system, comprising: a plurality of robotic debridementapparatuses, at least one of the plurality of robotic debridementapparatuses including a housing; and at least one debriding toolassociated with the housing; a dressing associated with the at least oneof the plurality of robotic debridement apparatuses, the dressingincluding at least one layer that at least partially encloses the atleast one of the plurality of robotic debridement apparatuses; and oneor more sensors positioned in or on at least one of the housing of theat least one of the plurality of robotic debridement apparatuses or thedressing.
 53. The robotic debridement system of claim 52, wherein theone or more sensors includes one or more of at least one chemicalsensor, at least one optical sensor, at least one thermal sensor, atleast one moisture sensor, at least one electrical conductivity sensor,or at least one acoustic sensor.
 54. The robotic debridement system ofclaim 52, wherein the one or more sensors are configured to detect atleast one of necrotic tissue, ischemic tissue, fibrinous tissue, viabletissue, nonviable tissue, slough, granulation tissue, connective tissue,epithelial tissue, endothelial tissue, inflammation, a microbe, or atoxin.
 55. The robotic debridement system of claim 52, wherein the oneor more sensors are configured to detect one or more agents, the one ormore agents including at least one of one or more taggants, one or moredebriding agents, or one or more therapeutic agents.
 56. The roboticdebridement system of claim 52, further including at least one taggantreservoir positioned in or on a housing of one or more of the pluralityof robotic debridement apparatuses; and at least one taggant dispenseelement operably coupled to the at least one taggant reservoir, the atleast one taggant-dispense element including at least onetaggant-dispense aperture.
 57. The robotic debridement system of claim52, further including a controller operably coupled to the one or moresensors and configured to control operation of one or more components ofat least one of the dressing or one or more of the plurality of roboticdebridement apparatuses.
 58. The robotic debridement system of claim 52,wherein one or more of the plurality of robotic debridement apparatusesincludes at least one locomotive mechanism positioned in or on a housingof the one or more of the plurality of robotic debridement apparatuses,the at least one locomotive mechanism configured to generate aself-propelling locomotive force.
 59. The robotic debridement system ofclaim 52, wherein one or more of the plurality of robotic debridementapparatuses includes at least one debris disposal device.
 60. A method,comprising: positioning a plurality of robotic debridement apparatusesat or near a body region including at least one target tissue, at leastone of the plurality of robotic debridement apparatuses including ahousing; and at least one debriding tool associated with the housing;reversibly attaching a dressing associated with the plurality of roboticdebridement apparatuses to the body region; and via the at least onedebriding tool, debriding the at least one target tissue present withinthe body region.